JP7749756B2 - Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device - Google Patents

Description

This disclosure relates to a three-dimensional data encoding method, a three-dimensional data decoding method, a three-dimensional data encoding device, and a three-dimensional data decoding device.

In the future, devices and services that utilize 3D data are expected to become more widespread in a wide range of fields, including computer vision for autonomous vehicle or robot operation, map information, surveillance, infrastructure inspection, and video distribution. 3D data can be acquired in a variety of ways, including using distance sensors such as rangefinders, stereo cameras, or a combination of multiple monocular cameras.

One method of representing three-dimensional data is a point cloud, which uses a group of points in three-dimensional space to represent the shape of a three-dimensional structure. A point cloud stores the position and color of the points. Point clouds are expected to become the mainstream method of representing three-dimensional data, but point clouds contain a very large amount of data. Therefore, when storing or transmitting three-dimensional data, it is essential to compress the data volume through encoding, just as with two-dimensional video images (examples include MPEG-4 AVC or HEVC standardized by MPEG).

In addition, point cloud compression is partially supported by public libraries (Point Cloud Library) that perform point cloud-related processing.

There is also known technology that uses three-dimensional map data to search for and display facilities located around a vehicle (see, for example, Patent Document 1).

International Publication No. 2014/020663

It is desirable to be able to improve coding efficiency when encoding and decoding three-dimensional data.

The purpose of this disclosure is to provide a three-dimensional data encoding method, a three-dimensional data decoding method, a three-dimensional data encoding device, or a three-dimensional data decoding device that can improve encoding efficiency.

A three-dimensional data encoding method according to one aspect of the present disclosure generates an occupation pattern of adjacent nodes adjacent to a node included in an N-ary tree structure (N is an integer greater than or equal to 2) of multiple three-dimensional points included in the three-dimensional data, and determines whether to set a candidate node that can use first encoding based on the occupation pattern , the candidate node being included in the node, and the first encoding is a direct mode that directly encodes the position information of the three-dimensional points within the node .

A three-dimensional data decoding method according to one aspect of the present disclosure obtains an occupation pattern of adjacent nodes adjacent to a node included in an N-ary tree structure (N is an integer greater than or equal to 2) of multiple three-dimensional points included in the three-dimensional data, and determines whether to set a candidate node that can use first decoding based on the occupation pattern , the candidate node being included in the node, and the first decoding is a direct mode that directly decodes position information of three-dimensional points within the node .

This disclosure provides a three-dimensional data encoding method, a three-dimensional data decoding method, a three-dimensional data encoding device, or a three-dimensional data decoding device that can improve encoding efficiency.

FIG. 1 is a diagram showing the structure of encoded three-dimensional data according to the first embodiment. FIG. 2 is a diagram showing an example of a prediction structure between SPCs belonging to the lowest layer of the GOS according to the first embodiment. FIG. 3 is a diagram illustrating an example of an inter-layer prediction structure according to the first embodiment. FIG. 4 is a diagram showing an example of the coding order of the GOS according to the first embodiment. FIG. 5 is a diagram showing an example of the coding order of the GOS according to the first embodiment. FIG. 6 is a block diagram of a three-dimensional data encoding device according to the first embodiment. FIG. 7 is a flowchart of the encoding process according to the first embodiment. FIG. 8 is a block diagram of a three-dimensional data decoding device according to the first embodiment. FIG. 9 is a flowchart of the decoding process according to the first embodiment. FIG. 10 is a diagram illustrating an example of meta information according to the first embodiment. FIG. 11 is a diagram illustrating a configuration example of a SWLD according to the second embodiment. FIG. 12 is a diagram illustrating an example of the operation of the server and the client according to the second embodiment. FIG. 13 is a diagram illustrating an example of the operation of the server and the client according to the second embodiment. FIG. 14 is a diagram illustrating an example of the operation of the server and the client according to the second embodiment. FIG. 15 is a diagram illustrating an example of the operation of the server and the client according to the second embodiment. FIG. 16 is a block diagram of a three-dimensional data encoding device according to the second embodiment. FIG. 17 is a flowchart of the encoding process according to the second embodiment. FIG. 18 is a block diagram of a three-dimensional data decoding device according to the second embodiment. FIG. 19 is a flowchart of the decoding process according to the second embodiment. FIG. 20 is a diagram illustrating an example of the configuration of a WLD according to the second embodiment. FIG. 21 is a diagram illustrating an example of an octree structure of a WLD according to the second embodiment. FIG. 22 is a diagram illustrating a configuration example of a SWLD according to the second embodiment. FIG. 23 is a diagram showing an example of an octree structure of the SWLD according to the second embodiment. FIG. 24 is a block diagram of a three-dimensional data creation device according to the third embodiment. FIG. 25 is a block diagram of a three-dimensional data transmission device according to the third embodiment. FIG. 26 is a block diagram of a three-dimensional information processing device according to the fourth embodiment. FIG. 27 is a block diagram of a three-dimensional data creation device according to the fifth embodiment. FIG. 28 is a diagram showing the configuration of a system according to the sixth embodiment. FIG. 29 is a block diagram of a client device according to the sixth embodiment. FIG. 30 is a block diagram of a server according to the sixth embodiment. FIG. 31 is a flowchart of a three-dimensional data creation process by a client device according to the sixth embodiment. FIG. 32 is a flowchart of a sensor information transmission process performed by a client device according to the sixth embodiment. FIG. 33 is a flowchart of a three-dimensional data creation process performed by a server according to the sixth embodiment. FIG. 34 is a flowchart of a three-dimensional map transmission process performed by a server according to the sixth embodiment. FIG. 35 is a diagram showing the configuration of a modified example of the system according to the sixth embodiment. FIG. 36 is a diagram showing the configurations of a server and a client device according to the sixth embodiment. FIG. 37 is a block diagram of a three-dimensional data encoding device according to the seventh embodiment. FIG. 38 is a diagram showing an example of a prediction residual according to the seventh embodiment. FIG. 39 is a diagram illustrating an example of a volume according to the seventh embodiment. FIG. 40 is a diagram showing an example of an octree representation of a volume according to the seventh embodiment. FIG. 41 is a diagram showing an example of a bit string of a volume according to the seventh embodiment. FIG. 42 is a diagram showing an example of an octree representation of a volume according to the seventh embodiment. FIG. 43 is a diagram illustrating an example of a volume according to the seventh embodiment. FIG. 44 is a diagram illustrating the intra prediction process according to the seventh embodiment. FIG. 45 is a diagram for explaining the rotation and translation processing according to the seventh embodiment. Figure 46 is a diagram showing an example of the syntax of the RT application flag and RT information relating to embodiment 7. FIG. 47 is a diagram illustrating the inter prediction process according to the seventh embodiment. FIG. 48 is a block diagram of a three-dimensional data decoding device according to the seventh embodiment. FIG. 49 is a flowchart of three-dimensional data encoding processing by the three-dimensional data encoding device according to the seventh embodiment. FIG. 50 is a flowchart of three-dimensional data decoding processing by the three-dimensional data decoding device according to the seventh embodiment. FIG. 51 is a diagram showing reference relationships in an octree structure according to the eighth embodiment. FIG. 52 is a diagram showing reference relationships in the spatial domain according to the eighth embodiment. FIG. 53 is a diagram showing an example of an adjacent reference node according to the eighth embodiment. FIG. 54 is a diagram showing the relationship between a parent node and a node according to the eighth embodiment. FIG. 55 is a diagram showing an example of an occupancy code of a parent node according to the eighth embodiment. FIG. 56 is a block diagram of a three-dimensional data encoding device according to the eighth embodiment. FIG. 57 is a block diagram of a three-dimensional data decoding device according to the eighth embodiment. FIG. 58 is a flowchart of three-dimensional data encoding processing according to the eighth embodiment. FIG. 59 is a flowchart of three-dimensional data decoding processing according to the eighth embodiment. FIG. 60 is a diagram showing an example of switching of the coding table according to the eighth embodiment. FIG. 61 is a diagram showing reference relationships in the spatial domain according to the first modification of the eighth embodiment. FIG. 62 is a diagram illustrating an example of the syntax of header information according to the first modification of the eighth embodiment. FIG. 63 is a diagram illustrating an example of the syntax of header information according to the first modification of the eighth embodiment. FIG. 64 is a diagram showing an example of an adjacent reference node according to the second modification of the eighth embodiment. FIG. 65 is a diagram illustrating an example of a target node and adjacent nodes according to the second modification of the eighth embodiment. FIG. 66 is a diagram showing reference relationships in an octree structure according to the third modification of the eighth embodiment. FIG. 67 is a diagram showing reference relationships in the spatial domain according to the third modification of the eighth embodiment. FIG. 68 is a diagram illustrating an example of adjacent nodes and processing according to the ninth embodiment. FIG. 69 is a flowchart of three-dimensional data encoding processing according to the ninth embodiment. FIG. 70 is a flowchart of three-dimensional data encoding processing according to the ninth embodiment. FIG. 71 is a flowchart of a modified example of the three-dimensional data encoding process according to the ninth embodiment. FIG. 72 is a flowchart of three-dimensional data decoding processing according to the ninth embodiment. FIG. 73 is a flowchart of a modification of the three-dimensional data decoding process according to the ninth embodiment. FIG. 74 is a diagram showing an example of the syntax of a header according to the ninth embodiment. FIG. 75 is a diagram illustrating an example of the syntax of node information according to the ninth embodiment. FIG. 76 is a block diagram of a three-dimensional data encoding device according to the ninth embodiment. FIG. 77 is a block diagram of a three-dimensional data decoding device according to the ninth embodiment. FIG. 78 is a flowchart of a modified example of the three-dimensional data encoding process according to the ninth embodiment. FIG. 79 is a flowchart of a modified example of the three-dimensional data encoding process according to the ninth embodiment. FIG. 80 is a flowchart of a modification of the three-dimensional data decoding process according to the ninth embodiment. FIG. 81 is a flowchart of a modification of the three-dimensional data decoding process according to the ninth embodiment. FIG. 82 is a flowchart of three-dimensional data encoding processing according to the ninth embodiment. FIG. 83 is a flowchart of three-dimensional data decoding processing according to the ninth embodiment.

A three-dimensional data encoding method according to one aspect of the present disclosure includes, when a first flag indicates a first value, generating a first occupancy pattern indicating the occupancy states of multiple second adjacent nodes, including a first adjacent node whose parent node is different from that of a target node included in an N-ary tree structure of multiple three-dimensional points included in the three-dimensional data (N is an integer equal to or greater than 2), and determining, based on the first occupancy pattern, whether a first encoding method can be used to encode multiple pieces of three-dimensional position information included in the target node without dividing the target node into multiple child nodes; when the first flag indicates a second value different from the first value, generating a second occupancy pattern indicating the occupancy states of multiple third adjacent nodes, not including the first adjacent node whose parent node is different from that of the target node, and determining, based on the second occupancy pattern, whether the first encoding method can be used; and generating a bitstream including the first flag.

As a result, the three-dimensional data encoding method can switch the adjacent node occupation pattern used to determine whether the first encoding can be used, depending on the first flag. This makes it possible to appropriately determine whether the first encoding can be used, thereby improving encoding efficiency.

For example, if it is determined that the first encoding can be used, a determination is made based on predetermined conditions as to whether or not to use the first encoding; if it is determined that the first encoding should be used, the target node is encoded using the first encoding; if it is determined that the first encoding should not be used, the target node is encoded using a second encoding that divides the target node into multiple child nodes; and the bitstream may further include a second flag indicating whether or not to use the first encoding.

For example, when determining whether the first encoding can be used based on the first occupation pattern or the second occupation pattern, it may be determined whether the first encoding can be used based on the first occupation pattern or the second occupation pattern and the number of occupied nodes included in the parent node.

For example, when determining whether the first encoding can be used based on the first occupation pattern or the second occupation pattern, it may be determined whether the first encoding can be used based on the first occupation pattern or the second occupation pattern and the number of occupied nodes included in the grandparent node of the target node.

For example, when determining whether the first encoding can be used based on the first occupation pattern or the second occupation pattern, whether the first encoding can be used may be determined based on the first occupation pattern or the second occupation pattern and the hierarchical level to which the target node belongs.

A three-dimensional data decoding method according to one aspect of the present disclosure includes: acquiring a first flag from a bitstream; and, if the first flag indicates a first value, generating a first occupancy pattern indicating the occupancy states of multiple second adjacent nodes, including a first adjacent node whose parent node is different from that of a target node included in an N-ary tree structure of multiple three-dimensional points included in the three-dimensional data, when the first flag indicates a first value; determining, based on the first occupancy pattern, whether or not a first decoding method is available for decoding multiple pieces of three-dimensional position information included in the target node without dividing the target node into multiple child nodes; and, if the first flag indicates a second value different from the first value, generating a second occupancy pattern indicating the occupancy states of multiple third adjacent nodes, excluding the first adjacent node whose parent node is different from that of the target node, when the first flag indicates a second value different from the first value; and determining, based on the second occupancy pattern, whether or not the first decoding method is available.

As a result, the three-dimensional data decoding method can switch the adjacent node occupation pattern used to determine whether the first encoding can be used, depending on the first flag. This makes it possible to appropriately determine whether the first encoding can be used, thereby improving encoding efficiency.

For example, if it is determined that the first decoding method is usable, a second flag indicating whether or not to use the first decoding method may be obtained from the bitstream, and if the second flag indicates that the first decoding method is to be used, the target node may be decoded using the first decoding method, and if the second flag indicates that the first decoding method is not to be used, the target node may be decoded using a second decoding method that splits the target node into multiple child nodes.

For example, when determining whether the first decryption is usable based on the first occupancy pattern or the second occupancy pattern, it may be determined whether the first decryption is usable based on the first occupancy pattern or the second occupancy pattern and the number of occupied nodes included in the parent node.

For example, when determining whether the first decryption is usable based on the first occupancy pattern or the second occupancy pattern, it may be determined whether the first decryption is usable based on the first occupancy pattern or the second occupancy pattern and the number of occupied nodes included in the grandparent node of the target node.

For example, when determining whether the first decoding is usable based on the first occupation pattern or the second occupation pattern, whether the first decoding is usable may be determined based on the first occupation pattern or the second occupation pattern and the hierarchical level to which the target node belongs.

Furthermore, a three-dimensional data encoding device according to one aspect of the present disclosure is a three-dimensional data encoding device that encodes a plurality of three-dimensional points having attribute information, and includes a processor and a memory. The processor, using the memory, generates a first occupancy pattern indicating the occupancy status of a plurality of second adjacent nodes, including a first adjacent node whose parent node is different from that of a target node included in an N-ary tree structure of a plurality of three-dimensional points included in the three-dimensional data, when a first flag indicates a first value, and determines, based on the first occupancy pattern, whether a first encoding method is available for encoding the plurality of three-dimensional position information included in the target node without dividing the target node into a plurality of child nodes; and, when the first flag indicates a second value different from the first value, generates a second occupancy pattern indicating the occupancy status of a plurality of third adjacent nodes that do not include the first adjacent node whose parent node is different from that of the target node, and determines, based on the second occupancy pattern, whether the first encoding method is available, and generates a bitstream including the first flag.

This allows the three-dimensional data encoding device to switch the adjacent node occupation pattern used to determine whether the first encoding can be used, depending on the first flag. This allows for appropriate determination of whether the first encoding can be used, thereby improving encoding efficiency.

Furthermore, a three-dimensional data decoding device according to one aspect of the present disclosure is a three-dimensional data decoding device that decodes a plurality of three-dimensional points having attribute information, and includes a processor and a memory. The processor, using the memory, generates a first occupancy pattern indicating the occupancy states of a plurality of second adjacent nodes, including a first adjacent node whose parent node is different from that of a target node included in an N-ary tree structure of a plurality of three-dimensional points included in the three-dimensional data, when the first flag indicates a first value, and determines, based on the first occupancy pattern, whether or not a first decoding method is available for decoding the plurality of three-dimensional position information included in the target node without dividing the target node into a plurality of child nodes; and, when the first flag indicates a second value different from the first value, generates a second occupancy pattern indicating the occupancy states of a plurality of third adjacent nodes, not including the first adjacent node whose parent node is different from that of the target node, and determines, based on the second occupancy pattern, whether or not the first decoding method is available.

This allows the three-dimensional data decoding device to switch the adjacent node occupation pattern used to determine whether the first encoding can be used, depending on the first flag. This allows for appropriate determination of whether the first encoding can be used, thereby improving encoding efficiency.

These comprehensive or specific aspects may be realized as a system, method, integrated circuit, computer program, or computer-readable recording medium such as a CD-ROM, or as any combination of a system, method, integrated circuit, computer program, and recording medium.

The following embodiments are described in detail with reference to the drawings. Each embodiment described below represents a specific example of the present disclosure. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not recited in an independent claim representing a superordinate concept are described as optional components.

(Embodiment 1)
First, the data structure of the encoded three-dimensional data (hereinafter also referred to as encoded data) according to this embodiment will be described. Fig. 1 is a diagram showing the structure of the encoded three-dimensional data according to this embodiment.

In this embodiment, three-dimensional space is divided into spaces (SPC), which correspond to pictures in video encoding, and three-dimensional data is encoded using spaces as units. The spaces are further divided into volumes (VLM), which correspond to macroblocks, etc. in video encoding, and prediction and conversion are performed using VLMs as units. A volume contains multiple voxels (VXL), which are the smallest units to which position coordinates can be associated. Note that prediction, similar to prediction performed for two-dimensional images, refers to other processing units, generates predicted three-dimensional data similar to the processing unit to be processed, and encodes the difference between this predicted three-dimensional data and the processing unit to be processed. Furthermore, this prediction includes not only spatial prediction, which refers to other prediction units at the same time, but also temporal prediction, which refers to a prediction unit at a different time.

For example, when a three-dimensional data encoding device (hereinafter also referred to as an encoding device) encodes a three-dimensional space represented by point cloud data such as a point cloud, it encodes each point of the point cloud or multiple points contained within a voxel collectively, depending on the size of the voxel. Subdividing the voxels allows the three-dimensional shape of the point cloud to be expressed with high precision, while increasing the voxel size allows the three-dimensional shape of the point cloud to be expressed more roughly.

Note that the following explanation uses the case where the three-dimensional data is a point cloud as an example, but the three-dimensional data is not limited to a point cloud and can be three-dimensional data in any format.

Voxels with a hierarchical structure may also be used. In this case, the nth layer may indicate in order whether a sample point exists in the n-1th or lower layer (the layer below the nth layer). For example, when decoding only the nth layer, if a sample point exists in the n-1th or lower layer, the sample point can be considered to exist at the center of the voxel in the nth layer and decoded.

The encoding device also acquires point cloud data using a distance sensor, stereo camera, monocular camera, gyro, inertial sensor, or the like.

Similar to video coding, spaces are classified into one of at least three prediction structures, including independently decodable intra-space (I-SPC), predictive space (P-SPC), which allows only unidirectional reference, and bidirectional space (B-SPC), which allows bidirectional reference. Furthermore, spaces have two types of time information: decoding time and display time.

As shown in Figure 1, there is a random access unit called a GOS (Group of Space), which is a processing unit that contains multiple spaces. Furthermore, there is a world (WLD), which is a processing unit that contains multiple GOSs.

The spatial region occupied by the world is associated with an absolute position on Earth using GPS or latitude and longitude information. This location information is stored as meta information. Note that the meta information may be included in the encoded data or may be transmitted separately from the encoded data.

Furthermore, within a GOS, all SPCs may be adjacent in three dimensions, or there may be SPCs that are not adjacent in three dimensions to other SPCs.

Note that hereinafter, the process of encoding, decoding, referencing, etc. of three-dimensional data contained in a processing unit such as GOS, SPC, or VLM will also be referred to simply as encoding, decoding, or referencing the processing unit. Furthermore, the three-dimensional data contained in the processing unit includes, for example, at least one pair of a spatial position such as three-dimensional coordinates and a characteristic value such as color information.

Next, we will explain the prediction structure of SPCs in GOS. Multiple SPCs within the same GOS, or multiple VLMs within the same SPC, occupy different spaces, but have the same time information (decoding time and display time).

The first SPC in a GOS in decoding order is the I-SPC. There are two types of GOS: closed GOS and open GOS. A closed GOS is a GOS that can decode all SPCs in the GOS when decoding begins from the first I-SPC. In an open GOS, some SPCs that have a display time earlier than the first I-SPC in the GOS refer to a different GOS, and cannot be decoded using only that GOS.

Note that with coded data such as map information, the WLD may be decoded in the reverse order of coding, and reverse playback can be difficult if there is dependency between GOSs. Therefore, in such cases, closed GOSs are generally used.

In addition, GOS has a layered structure in the vertical direction, with encoding or decoding being performed in order starting from the SPC in the bottom layer.

Figure 2 shows an example of a prediction structure between SPCs belonging to the lowest layer of GOS. Figure 3 shows an example of a prediction structure between layers.

One or more I-SPCs exist within a GOS. Objects such as people, animals, cars, bicycles, traffic lights, and landmark buildings exist in three-dimensional space, but it is particularly effective to encode small objects as I-SPCs. For example, when a three-dimensional data decoding device (hereinafter also referred to as a decoding device) decodes a GOS with low processing load or at high speed, it only decodes the I-SPCs within the GOS.

The encoding device may also switch the encoding interval or frequency of occurrence of I-SPC depending on the density of objects in the WLD.

Furthermore, in the configuration shown in Figure 3, the encoding device or decoding device encodes or decodes multiple layers in order, starting from the lowest layer (Layer 1). This allows, for example, an autonomous vehicle to prioritize data near the ground, which contains more information.

In addition, encoded data used by drones, etc. may be encoded or decoded in order from the SPC in the top layer in the height direction within the GOS.

Also, the encoding device or decoding device may encode or decode multiple layers so that the decoding device can roughly grasp the GOS and gradually increase the resolution. For example, the encoding device or decoding device may encode or decode layers 3, 8, 1, 9, etc. in that order.

Next, we'll explain how to handle static and dynamic objects.

In three-dimensional space, there are static objects or scenes such as buildings or roads (hereinafter collectively referred to as static objects), and dynamic objects such as cars or people (hereinafter referred to as dynamic objects). Object detection is performed separately, for example, by extracting feature points from point cloud data or camera images such as those from a stereo camera. Here, we will explain an example of a method for encoding dynamic objects.

The first method is to encode objects without distinguishing between static and dynamic objects. The second method is to distinguish between static and dynamic objects using identification information.

For example, the GOS is used as the identification unit. In this case, a GOS containing an SPC that constitutes a static object and a GOS containing an SPC that constitutes a dynamic object are distinguished by identification information stored within the encoded data or separately from the encoded data.

Alternatively, the SPC may be used as the identification unit. In this case, the above identification information distinguishes between an SPC containing a VLM that constitutes a static object and an SPC containing a VLM that constitutes a dynamic object.

Alternatively, VLM or VXL may be used as the identification unit. In this case, the above identification information distinguishes between VLM or VXL containing static objects and VLM or VXL containing dynamic objects.

The encoding device may also encode dynamic objects as one or more VLMs or SPCs, and encode a VLM or SPC containing a static object and an SPC containing a dynamic object as different GOSs. Furthermore, if the size of the GOS varies depending on the size of the dynamic object, the encoding device may store the size of the GOS separately as meta-information.

The encoding device may also encode static objects and dynamic objects independently, and overlay the dynamic objects on a world made up of static objects. In this case, the dynamic object is made up of one or more SPCs, and each SPC corresponds to one or more SPCs that make up the static object on which it is overlaid. Note that the dynamic object may also be represented by one or more VLMs or VXLs instead of SPCs.

The encoding device may also encode static objects and dynamic objects as different streams.

The encoding device may also generate a GOS that includes one or more SPCs that make up a dynamic object. Furthermore, the encoding device may set the GOS (GOS_M) that includes the dynamic object and the GOS of the static object that corresponds to the spatial area of GOS_M to the same size (occupying the same spatial area). This allows overlay processing to be performed on a GOS-by-GOS basis.

The P-SPC or B-SPC that constitutes a dynamic object may reference an SPC contained in a different encoded GOS. In cases where the position of a dynamic object changes over time and the same dynamic object is encoded as GOS at different times, referencing across GOSs is effective from the perspective of compression rate.

The encoding device may switch between the first and second methods described above depending on the intended use of the encoded data. For example, when using encoded three-dimensional data as a map, it is desirable to be able to separate dynamic objects, so the encoding device uses the second method. On the other hand, when encoding three-dimensional data of an event such as a concert or sporting event, the encoding device may use the first method if there is no need to separate dynamic objects.

The decode time and display time of the GOS or SPC can be stored within the encoded data or as meta information. The time information for all static objects may be the same. In this case, the actual decode time and display time may be determined by the decoding device. Alternatively, a different value may be assigned as the decode time for each GOS or SPC, and the same value may be assigned as the display time for all. Furthermore, a model may be introduced in which the decoder has a buffer of a specified size, and ensures that decoding can be performed without failure if the bitstream is read at a specified bit rate according to the decode time, as in decoder models used in video coding such as HEVC's HRD (Hypothetical Reference Decoder).

Next, we will explain the placement of GOS within the world. The three-dimensional coordinates in the world are expressed using three mutually orthogonal coordinate axes (x-axis, y-axis, and z-axis). By establishing a specific rule for the encoding order of GOS, encoding can be performed so that spatially adjacent GOS are continuous within the encoded data. For example, in the example shown in Figure 4, GOS within the xz plane are encoded continuously. The y-axis value is updated after all GOS within a certain xz plane have been encoded. In other words, as encoding progresses, the world extends in the y-axis direction. Furthermore, the index numbers of GOS are set in the encoding order.

Here, the three-dimensional space of the world is associated one-to-one with absolute geographical coordinates such as GPS or latitude and longitude. Alternatively, the three-dimensional space may be expressed as a relative position from a preset reference position. The directions of the x-, y-, and z-axes of the three-dimensional space are expressed as directional vectors determined based on latitude and longitude, and these directional vectors are stored as meta-information together with the encoded data.

The size of the GOS is fixed, and the encoding device stores this size as meta information. The size of the GOS may also be changed depending on, for example, whether the location is an urban area or whether it is indoors or outdoors. In other words, the size of the GOS may be changed depending on the quantity or nature of objects that have informational value. Alternatively, the encoding device may adaptively change the size of the GOS or the spacing between I-SPCs within the GOS depending on factors such as the density of objects within the same world. For example, the higher the object density, the smaller the GOS size and the shorter the spacing between I-SPCs within the GOS.

In the example shown in Figure 5, the third through tenth GOS areas have a high density of objects, so the GOSs are subdivided to allow for fine-grained random access. Note that the seventh through tenth GOSs are located behind the third through sixth GOSs, respectively.

Next, the configuration and operation flow of the three-dimensional data encoding device according to this embodiment will be described. Figure 6 is a block diagram of the three-dimensional data encoding device 100 according to this embodiment. Figure 7 is a flowchart showing an example of the operation of the three-dimensional data encoding device 100.

The three-dimensional data encoding device 100 shown in FIG. 6 generates encoded three-dimensional data 112 by encoding three-dimensional data 111. This three-dimensional data encoding device 100 includes an acquisition unit 101, an encoding region determination unit 102, a division unit 103, and an encoding unit 104.

As shown in Figure 7, first, the acquisition unit 101 acquires three-dimensional data 111, which is point cloud data (S101).

Next, the coding area determination unit 102 determines an area to be coded from the spatial area corresponding to the acquired point cloud data (S102). For example, depending on the position of the user or vehicle, the coding area determination unit 102 determines the spatial area around that position as the area to be coded.

Next, the dividing unit 103 divides the point cloud data included in the area to be coded into processing units. Here, the processing units are the GOS and SPC described above, etc. Furthermore, this area to be coded corresponds, for example, to the world described above. Specifically, the dividing unit 103 divides the point cloud data into processing units based on the size of the GOS set in advance, or the presence or size of dynamic objects (S103). Furthermore, the dividing unit 103 determines the starting position of the SPC that is the first in coding order in each GOS.

Next, the encoding unit 104 generates encoded 3D data 112 by sequentially encoding the multiple SPCs in each GOS (S104).

Note that, while an example has been shown in which the area to be coded is divided into GOSs and SPCs and then each GOS is coded, the processing procedure is not limited to the above. For example, a procedure may be used in which the configuration of one GOS is determined, that GOS is coded, and then the configuration of the next GOS is determined.

In this way, the three-dimensional data encoding device 100 generates encoded three-dimensional data 112 by encoding three-dimensional data 111. Specifically, the three-dimensional data encoding device 100 divides the three-dimensional data into first processing units (GOS), which are random access units and each correspond to a three-dimensional coordinate, divides the first processing units (GOS) into multiple second processing units (SPC), and divides the second processing units (SPC) into multiple third processing units (VLM). Furthermore, the third processing units (VLM) include one or more voxels (VXL), which are the smallest units to which position information can be associated.

Next, the three-dimensional data encoding device 100 generates encoded three-dimensional data 112 by encoding each of the multiple first processing units (GOS). Specifically, the three-dimensional data encoding device 100 encodes each of the multiple second processing units (SPC) in each first processing unit (GOS). Furthermore, the three-dimensional data encoding device 100 encodes each of the multiple third processing units (VLM) in each second processing unit (SPC).

For example, when the first processing unit (GOS) to be processed is a closed GOS, the three-dimensional data encoding device 100 encodes the second processing unit (SPC) to be processed included in the first processing unit (GOS) to be processed by referencing other second processing units (SPC) included in the first processing unit (GOS) to be processed. In other words, the three-dimensional data encoding device 100 does not refer to second processing units (SPC) included in first processing units (GOS) different from the first processing unit (GOS) to be processed.

On the other hand, if the first processing unit (GOS) to be processed is an open GOS, the second processing unit (SPC) to be processed included in the first processing unit (GOS) to be processed is encoded by referencing another second processing unit (SPC) included in the first processing unit (GOS) to be processed, or a second processing unit (SPC) included in a first processing unit (GOS) different from the first processing unit (GOS) to be processed.

The three-dimensional data encoding device 100 also selects the type of the second processing unit (SPC) to be processed from among a first type (I-SPC) that does not reference other second processing units (SPC), a second type (P-SPC) that references one other second processing unit (SPC), and a third type that references two other second processing units (SPC), and encodes the second processing unit (SPC) to be processed according to the selected type.

Next, the configuration and operation flow of the three-dimensional data decoding device according to this embodiment will be described. Figure 8 is a block diagram of the three-dimensional data decoding device 200 according to this embodiment. Figure 9 is a flowchart showing an example of the operation of the three-dimensional data decoding device 200.

The three-dimensional data decoding device 200 shown in FIG. 8 generates decoded three-dimensional data 212 by decoding encoded three-dimensional data 211. Here, the encoded three-dimensional data 211 is, for example, the encoded three-dimensional data 112 generated by the three-dimensional data encoding device 100. This three-dimensional data decoding device 200 includes an acquisition unit 201, a decoding start GOS determination unit 202, a decoding SPC determination unit 203, and a decoding unit 204.

First, the acquisition unit 201 acquires the encoded 3D data 211 (S201). Next, the decoding start GOS determination unit 202 determines the GOS to be decoded (S202). Specifically, the decoding start GOS determination unit 202 references meta information stored in the encoded 3D data 211 or separately from the encoded 3D data, and determines the GOS to be decoded as the GOS that includes an SPC corresponding to the spatial position, object, or time at which decoding starts.

Next, the decoding SPC determination unit 203 determines the type (I, P, B) of SPC to be decoded within the GOS (S203). For example, the decoding SPC determination unit 203 determines whether to (1) decode only I-SPC, (2) decode I-SPC and P-SPC, or (3) decode all types. Note that if the type of SPC to be decoded has been determined in advance, such as when all SPCs are to be decoded, this step does not need to be performed.

Next, the decoding unit 204 obtains the address position in the encoded 3D data 211 where the first SPC in the GOS in decoding order (the same as the encoding order) starts, obtains the encoded data of the first SPC from that address position, and sequentially decodes each SPC in order starting from the first SPC (S204). Note that the address position is stored in meta information, etc.

In this way, the three-dimensional data decoding device 200 decodes the decoded three-dimensional data 212. Specifically, the three-dimensional data decoding device 200 generates the decoded three-dimensional data 212 of the first processing units (GOS) by decoding each of the encoded three-dimensional data 211 of the first processing units (GOS), which are random access units and each of which corresponds to a three-dimensional coordinate. More specifically, the three-dimensional data decoding device 200 decodes each of the multiple second processing units (SPC) in each first processing unit (GOS). Furthermore, the three-dimensional data decoding device 200 decodes each of the multiple third processing units (VLM) in each second processing unit (SPC).

The following describes meta information for random access. This meta information is generated by the three-dimensional data encoding device 100 and is included in the encoded three-dimensional data 112 (211).

In conventional random access for two-dimensional video, decoding begins from the first frame of the random access unit, which is close to the specified time. In World, on the other hand, random access to space (coordinates, objects, etc.) is assumed in addition to time.

To achieve random access to at least three elements - coordinates, object, and time - a table is prepared that associates each element with a GOS index number. Furthermore, the GOS index number is associated with the address of the I-SPC at the beginning of the GOS. Figure 10 shows an example of a table included in the meta information. It is not necessary to use all of the tables shown in Figure 10; it is sufficient to use at least one table.

As an example, random access starting from a coordinate will be explained below. When accessing coordinates (x2, y2, z2), the coordinate-GOS table is first referenced, and it is determined that the point with coordinates (x2, y2, z2) is included in the second GOS. Next, the GOS address table is referenced, and it is determined that the address of the first I-SPC in the second GOS is addr(2). Therefore, the decoding unit 204 obtains data from this address and begins decoding.

Note that the address may be an address in a logical format, or a physical address on a HDD or in memory. Information identifying a file segment may also be used instead of an address. For example, a file segment is a unit obtained by segmenting one or more GOSs, etc.

Furthermore, if an object spans multiple GOSs, the object-GOS table may indicate multiple GOSs to which the object belongs. If the multiple GOSs are closed GOSs, the encoding device and decoding device can perform encoding or decoding in parallel. On the other hand, if the multiple GOSs are open GOSs, the multiple GOSs can reference each other, thereby improving compression efficiency.

Examples of objects include people, animals, cars, bicycles, traffic lights, or landmark buildings. For example, when encoding a world, the three-dimensional data encoding device 100 can extract feature points specific to objects from a three-dimensional point cloud, detect objects based on those feature points, and set the detected objects as random access points.

In this way, the three-dimensional data encoding device 100 generates first information indicating multiple first processing units (GOS) and the three-dimensional coordinates associated with each of the multiple first processing units (GOS). The encoded three-dimensional data 112 (211) also includes this first information. The first information also indicates at least one of the object, time, and data storage destination associated with each of the multiple first processing units (GOS).

The three-dimensional data decoding device 200 acquires first information from the encoded three-dimensional data 211, uses the first information to identify the encoded three-dimensional data 211 of the first processing unit corresponding to the specified three-dimensional coordinates, object, or time, and decodes the encoded three-dimensional data 211.

Other examples of meta information are described below. In addition to meta information for random access, the three-dimensional data encoding device 100 may generate and store the following meta information. The three-dimensional data decoding device 200 may also use this meta information during decoding.

When using three-dimensional data as map information, a profile may be defined depending on the application, and information indicating that profile may be included in the meta information. For example, profiles may be defined for urban areas, suburban areas, or flying objects, with the maximum and minimum sizes of the world, SPC, or VLM defined for each. For example, urban areas require more detailed information than suburban areas, so the minimum VLM size is set smaller.

The meta information may include a tag value that indicates the type of object. This tag value is associated with the VLM, SPC, or GOS that constitutes the object. For example, a tag value may be set for each type of object, such as a tag value of "0" indicating a "person," a tag value of "1" indicating a "car," and a tag value of "2" indicating a "traffic light." Alternatively, if the type of object is difficult to determine or does not need to be determined, a tag value that indicates properties such as size or whether the object is dynamic or static may be used.

The meta information may also include information indicating the extent of the spatial region occupied by the world.

The meta information may also store the size of the SPC or VXL as header information common to multiple SPCs, such as the entire stream of encoded data or an SPC within a GOS.

The meta information may also include identification information for the range sensor or camera used to generate the point cloud, or information indicating the positional accuracy of the points within the point cloud.

The meta information may also include information indicating whether the world consists of only static objects or includes dynamic objects.

Below, we will explain some variations of this embodiment.

The encoding device or decoding device may encode or decode two or more different SPCs or GOSs in parallel. The GOSs to encode or decode in parallel can be determined based on meta-information indicating the spatial position of the GOSs.

In cases where three-dimensional data is used as a spatial map for vehicles or flying objects moving around, or where such a spatial map is to be generated, the encoding device or decoding device may encode or decode the GOS or SPC contained in a space identified based on GPS, route information, zoom magnification, etc.

The decoding device may also perform decoding in order, starting with spaces closest to the current location or driving route. The encoding device or decoding device may encode or decode spaces farther from the current location or driving route by lowering their priority compared to closer spaces. Here, lowering the priority means lowering the processing order, lowering the resolution (thinning out the data), or lowering the image quality (increasing encoding efficiency, for example, by increasing the quantization step), etc.

Furthermore, when decoding coded data that has been hierarchically coded in space, the decoding device may decode only the lower layers.

The decoding device may also prioritize decoding from the lowest layer depending on the map's zoom factor or purpose.

Furthermore, for applications such as self-position estimation or object recognition performed when a car or robot is driving autonomously, the encoding device or decoding device may perform encoding or decoding at a lower resolution for areas other than those within a specific height from the road surface (the area where recognition is performed).

The encoding device may also encode point clouds representing the indoor and outdoor spatial shapes separately. For example, by separating the GOS representing the indoor space (indoor GOS) from the GOS representing the outdoor space (outdoor GOS), the decoding device can select the GOS to decode depending on the viewpoint position when using the encoded data.

The encoding device may also encode indoor and outdoor GOS with nearby coordinates so that they are adjacent in the encoded stream. For example, the encoding device may associate their identifiers and store information indicating the associated identifiers in the encoded stream or in separately stored meta information. This allows the decoding device to refer to the information in the meta information and identify indoor and outdoor GOS with nearby coordinates.

The encoding device may also switch the size of the GOS or SPC between indoor and outdoor GOS. For example, the encoding device may set a smaller GOS size indoors than outdoors. The encoding device may also change the accuracy of extracting feature points from the point cloud or the accuracy of object detection between indoor and outdoor GOS.

The encoding device may also add information to the encoded data that enables the decoding device to distinguish dynamic objects from static objects. This allows the decoding device to display dynamic objects together with red frames or explanatory text. The decoding device may also display only red frames or explanatory text instead of dynamic objects. The decoding device may also display more specific object types. For example, a red frame may be used for cars and a yellow frame for people.

The encoding device or decoding device may also determine whether to encode or decode dynamic objects and static objects as different SPCs or GOSs depending on the frequency of dynamic objects or the ratio of static objects to dynamic objects. For example, if the frequency or ratio of dynamic objects exceeds a threshold, an SPC or GOS that contains a mixture of dynamic and static objects is permitted, and if the frequency or ratio of dynamic objects does not exceed the threshold, an SPC or GOS that contains a mixture of dynamic and static objects is not permitted.

When detecting dynamic objects from two-dimensional camera image information rather than a point cloud, the encoding device may separately acquire information for identifying the detection results (such as frames or text) and the object position, and encode this information as part of the three-dimensional encoded data. In this case, the decoding device may superimpose auxiliary information (frames or text) indicating the dynamic object on the decoded results of the static object.

The encoding device may also change the density of the VXL or VLM in the SPC depending on factors such as the complexity of the shape of the static object. For example, the encoding device may set the VXL or VLM denser the more complex the shape of the static object. Furthermore, the encoding device may determine the quantization step, etc., used when quantizing spatial position or color information depending on the density of the VXL or VLM. For example, the encoding device may set a smaller quantization step the denser the VXL or VLM.

As described above, the encoding device or decoding device according to this embodiment encodes or decodes space in units of spaces that contain coordinate information.

In addition, the encoding device and decoding device perform encoding or decoding in volume units within the space. A volume includes voxels, which are the smallest units to which position information can be associated.

The encoding device and decoding device also perform encoding or decoding by associating any elements using a table that associates each element of spatial information, including coordinates, objects, and time, with a GOP, or a table that associates each element with another element. The decoding device also determines the coordinates using the values of the selected elements, identifies a volume, voxel, or space from the coordinates, and decodes the space containing the volume or voxel, or the identified space.

The encoding device also determines volumes, voxels, or spaces that can be selected by elements through feature point extraction or object recognition, and encodes them as randomly accessible volumes, voxels, or spaces.

Spaces are classified into three types: I-SPC, which can be encoded or decoded by itself; P-SPC, which is encoded or decoded by referencing any one processed space; and B-SPC, which is encoded or decoded by referencing any two processed spaces.

One or more volumes correspond to static or dynamic objects. The space containing static objects and the space containing dynamic objects are encoded or decoded as different GOSs. In other words, the SPC containing static objects and the SPC containing dynamic objects are assigned to different GOSs.

Dynamic objects are encoded or decoded on an object-by-object basis and associated with one or more spaces containing static objects. In other words, multiple dynamic objects are encoded individually, and the resulting encoded data for the multiple dynamic objects is associated with an SPC containing the static objects.

The encoding device and decoding device increase the priority of the I-SPC in the GOS and perform encoding or decoding. For example, the encoding device performs encoding so as to minimize degradation of the I-SPC (so that the original 3D data is reproduced more faithfully after decoding). Furthermore, the decoding device, for example, decodes only the I-SPC.

The encoding device may perform encoding by changing the frequency with which I-SPCs are used depending on the density or number (quantity) of objects in the world. In other words, the encoding device changes the frequency with which I-SPCs are selected depending on the number or density of objects included in the three-dimensional data. For example, the encoding device may use I-Spaces more frequently the more densely the objects in the world are.

The encoding device also sets random access points in units of GOS and stores information indicating the spatial region corresponding to the GOS in the header information.

The encoding device uses, for example, a default value as the spatial size of the GOS. Note that the encoding device may change the size of the GOS depending on the number (quantity) or density of objects or dynamic objects. For example, the encoding device may reduce the spatial size of the GOS the denser or more numerous the objects or dynamic objects are.

The space or volume also includes a group of feature points derived using information obtained by sensors such as a depth sensor, gyroscope, or camera. The coordinates of the feature points are set at the center positions of the voxels. Furthermore, by subdividing the voxels, it is possible to achieve higher accuracy in the position information.

The feature point group is derived using multiple pictures. The multiple pictures have at least two types of time information: actual time information and time information that is the same for multiple pictures associated with the space (e.g., encoding time used for rate control, etc.).

In addition, encoding and decoding is performed in units of GOS, which contain one or more spaces.

The encoding device and decoding device refer to the spaces in the processed GOS to predict the P space or B space in the GOS to be processed.

Alternatively, the encoding device and decoding device predict the P space or B space in the GOS to be processed using the processed space in the GOS to be processed, without referring to a different GOS.

In addition, the encoding device and decoding device transmit or receive encoded streams in world units, each containing one or more GOSs.

The GOS also has a layer structure in at least one direction within a world, and the encoding device and decoding device encode or decode starting from the lower layer. For example, a randomly accessible GOS belongs to the lowest layer. A GOS belonging to a higher layer references a GOS belonging to the same layer or lower. In other words, the GOS is spatially divided in a predetermined direction and includes multiple layers, each containing one or more SPCs. The encoding device and decoding device encode or decode each SPC by referencing an SPC included in the same layer as the SPC or in a layer lower than the SPC.

The encoding device and decoding device also encode or decode GOSs consecutively within a world unit containing multiple GOSs. The encoding device and decoding device write or read information indicating the encoding or decoding order (direction) as metadata. In other words, the encoded data includes information indicating the encoding order of multiple GOSs.

In addition, the encoding device and decoding device encode or decode two or more different spaces or GOS in parallel.

The encoding device and decoding device also encode or decode spatial information (coordinates, size, etc.) of the space or GOS.

The encoding device and decoding device also encode or decode the space or GOS contained in a specific space identified based on external information related to its own position and/or area size, such as GPS, route information, or magnification.

The encoding or decoding device will encode or decode spaces farther from its own location with lower priority than spaces closer to its own location.

The encoding device sets a certain direction in the world according to the magnification or application, and encodes the GOS with a layer structure in that direction. The decoding device also decodes the GOS with a layer structure in a certain direction in the world set according to the magnification or application, preferentially starting from the lower layer.

The encoding device varies the feature point extraction, object recognition accuracy, and spatial region size included in the indoor and outdoor spaces. However, the encoding device and decoding device encode or decode indoor GOS and outdoor GOS with close coordinates as adjacent within the world, and also associate and encode or decode these identifiers.

(Embodiment 2)
When using encoded point cloud data in an actual device or service, it is desirable to transmit and receive the information required for the application in order to reduce network bandwidth. However, until now, such a function has not existed in the encoding structure of 3D data, and no encoding method for this purpose has existed.

This embodiment describes a three-dimensional data encoding method and device that provide the functionality of transmitting and receiving only the information necessary for a particular application in encoded data of a three-dimensional point cloud, as well as a three-dimensional data decoding method and device that decodes the encoded data.

A voxel (VXL) with a certain level of feature quantity or more is defined as a feature voxel (FVXL), and a world (WLD) composed of FVXL is defined as a sparse world (SWLD). Figure 11 is a diagram showing an example of the configuration of a sparse world and world. SWLD includes FGOS, which is a GOS composed of FVXL, FSPC, which is an SPC composed of FVXL, and FVLM, which is a VLM composed of FVXL. The data structure and prediction structure of FGOS, FSPC, and FVLM may be the same as those of GOS, SPC, and VLM.

Feature amounts are those that represent the three-dimensional position information of the VXL or the visible light information of the VXL position, and are particularly frequently detected at the corners and edges of three-dimensional objects. Specifically, these feature amounts are three-dimensional feature amounts or visible light feature amounts such as those listed below, but any feature amount that represents the VXL position, brightness, or color information may be used.

As three-dimensional features, SHOT features (Signature of Histograms of Orientations), PFH features (Point Feature Histograms), or PPF features (Point Pair Feature) are used.

SHOT features are obtained by dividing the area around the VXL, calculating the dot product between the reference point and the normal vector of the divided area, and creating a histogram. These SHOT features are characterized by their high dimensionality and ability to express features.

PFH features are obtained by selecting a large number of pairs of points near the VXL, calculating normal vectors from those two points, and creating a histogram. Because these PFH features are histogram features, they are robust to minor disturbances and have high feature expressiveness.

PPF features are calculated using normal vectors, etc., for each two-point VXL. Because all VXLs are used for these PPF features, they are robust to occlusion.

In addition, as visible light features, SIFT (Scale-Invariant Feature Transform), SURF (Speeded Up Robust Features), or HOG (Histogram of Oriented Gradients), which use information such as image brightness gradient information, can be used.

The SWLD is generated by calculating the above feature values from each VXL in the WLD and extracting the FVXL. Here, the SWLD may be updated every time the WLD is updated, or it may be updated periodically after a certain period of time has passed, regardless of when the WLD is updated.

SWLDs may be generated for each feature. For example, separate SWLDs may be generated for each feature, such as SWLD1 based on SHOT features and SWLD2 based on SIFT features, and different SWLDs may be used depending on the application. Furthermore, the calculated features of each FVXL may be stored in each FVXL as feature information.

Next, we will explain how to use sparse world data structures (SWLDs). Because SWLDs contain only feature voxels (FVXLs), their data size is generally smaller than WLDs, which contain all VXLs.

In applications that use features to achieve a certain purpose, using SWLD information instead of WLD information can reduce the time it takes to read from the hard disk, as well as the bandwidth and transfer time required for network transfers. For example, by storing WLD and SWLD as map information on the server and switching between WLD and SWLD map information to be sent in response to a client request, network bandwidth and transfer time can be reduced. A specific example is shown below.

Figures 12 and 13 are diagrams showing examples of using SWLD and WLD. As shown in Figure 12, when client 1, an in-vehicle device, requires map information for self-location determination, client 1 sends a request to the server to obtain map data for self-location estimation (S301). The server then transmits an SWLD to client 1 in response to the request (S302). Client 1 determines its own location using the received SWLD (S303). At this time, client 1 obtains VXL information about the area around client 1 using various methods, such as a distance sensor such as a rangefinder, a stereo camera, or a combination of multiple monocular cameras, and estimates its own location information from the obtained VXL information and SWLD. Here, the self-location information includes the three-dimensional location information and orientation of client 1.

As shown in FIG. 13, when client 2, an in-vehicle device, requires map information for map drawing purposes such as three-dimensional maps, client 2 sends a request to the server to obtain map data for map drawing (S311). The server sends a WLD to client 2 in response to the request (S312). Client 2 uses the received WLD to draw the map (S313). At this time, client 2 creates a rendering image using, for example, an image captured by itself with a visible light camera or the like and the WLD obtained from the server, and displays the created image on the screen of a car navigation system or the like.

As described above, the server sends the SWLD to the client for applications that primarily require the features of each VXL, such as self-location estimation, and sends the WLD to the client for applications that require detailed VXL information, such as map drawing. This makes it possible to send and receive map data efficiently.

The client may decide for itself whether it needs an SWLD or a WLD and request the server to send either the SWLD or the WLD. The server may also decide whether to send an SWLD or a WLD depending on the client or network conditions.

Next, we will explain how to switch between sending and receiving data between the sparse world (SWLD) and the world (WLD).

It is also possible to switch between receiving the WLD or SWLD depending on the network bandwidth. Figure 14 shows an example of operation in this case. For example, when a low-speed network with limited available network bandwidth is used, such as in an LTE (Long Term Evolution) environment, the client accesses the server via the low-speed network (S321) and obtains the SWLD as map information from the server (S322). On the other hand, when a high-speed network with ample network bandwidth is used, such as in a Wi-Fi (registered trademark) environment, the client accesses the server via the high-speed network (S323) and obtains the WLD from the server (S324). This allows the client to obtain appropriate map information depending on the client's network bandwidth.

Specifically, when outdoors, the client receives SWLD via LTE, and when inside a facility or other facility, it obtains WLD via Wi-Fi (registered trademark). This allows the client to obtain more detailed map information about the indoor area.

In this way, the client may request a WLD or SWLD from the server depending on the bandwidth of the network it uses. Alternatively, the client may send information indicating the bandwidth of the network it uses to the server, and the server may send data (WLD or SWLD) appropriate for the client depending on that information. Alternatively, the server may determine the client's network bandwidth and send data (WLD or SWLD) appropriate for the client.

It is also possible to switch between receiving the WLD or SWLD depending on the travel speed. Figure 15 shows an example of operation in this case. For example, if the client is traveling at high speed (S331), the client receives the SWLD from the server (S332). On the other hand, if the client is traveling at low speed (S333), the client receives the WLD from the server (S334). This allows the client to obtain map information that matches its speed while suppressing network bandwidth. Specifically, by receiving the SWLD, which has a small amount of data, while traveling on a highway, the client can update rough map information at an appropriate speed. On the other hand, by receiving the WLD while traveling on an ordinary road, the client can obtain more detailed map information.

In this way, the client may request a WLD or SWLD from the server depending on its own movement speed. Alternatively, the client may send information indicating its own movement speed to the server, and the server may send data (WLD or SWLD) appropriate for the client depending on that information. Alternatively, the server may determine the client's movement speed and send data (WLD or SWLD) appropriate for the client.

Alternatively, the client may first obtain the SWLD from the server, and then obtain the WLD of important areas within that. For example, when obtaining map data, the client may first obtain rough map information using the SWLD, then narrow down the area to areas where features such as buildings, signs, or people frequently appear, and later obtain the WLD of the narrowed down area. This allows the client to obtain detailed information about the required areas while minimizing the amount of data received from the server.

Alternatively, the server may create a separate SWLD for each object from the WLD, and the client may receive each one according to its intended use. This reduces network bandwidth. For example, the server may recognize people or cars from the WLD in advance, and create a SWLD for people and a SWLD for cars. If the client wishes to obtain information about people in the vicinity, it will receive the SWLD for people, and if the client wishes to obtain information about cars, it will receive the SWLD for cars. The types of SWLDs may also be distinguished by information (flags, types, etc.) added to the header, etc.

Next, we will explain the configuration and operation flow of a three-dimensional data encoding device (e.g., a server) according to this embodiment. Figure 16 is a block diagram of a three-dimensional data encoding device 400 according to this embodiment. Figure 17 is a flowchart of the three-dimensional data encoding process performed by the three-dimensional data encoding device 400.

The three-dimensional data encoding device 400 shown in FIG. 16 generates encoded three-dimensional data 413 and 414, which are encoded streams, by encoding input three-dimensional data 411. Here, the encoded three-dimensional data 413 is encoded three-dimensional data corresponding to a WLD, and the encoded three-dimensional data 414 is encoded three-dimensional data corresponding to a SWLD. This three-dimensional data encoding device 400 includes an acquisition unit 401, an encoding region determination unit 402, an SWLD extraction unit 403, a WLD encoding unit 404, and an SWLD encoding unit 405.

As shown in FIG. 17, first, the acquisition unit 401 acquires input three-dimensional data 411, which is point cloud data in three-dimensional space (S401).

Next, the encoding area determination unit 402 determines the spatial area to be encoded based on the spatial area in which the point cloud data exists (S402).

Next, the SWLD extraction unit 403 defines the spatial region to be encoded as a WLD and calculates features from each VXL included in the WLD. The SWLD extraction unit 403 then extracts VXLs whose features are equal to or greater than a predetermined threshold, defines the extracted VXLs as FVXLs, and adds the FVXLs to the SWLD to generate extracted three-dimensional data 412 (S403). In other words, extracted three-dimensional data 412 whose features are equal to or greater than a threshold is extracted from the input three-dimensional data 411.

Next, the WLD encoding unit 404 generates encoded three-dimensional data 413 corresponding to the WLD by encoding the input three-dimensional data 411 corresponding to the WLD (S404). At this time, the WLD encoding unit 404 adds information to the header of the encoded three-dimensional data 413 to distinguish that the encoded three-dimensional data 413 is a stream including a WLD.

The SWLD encoding unit 405 also generates encoded three-dimensional data 414 corresponding to the SWLD by encoding the extracted three-dimensional data 412 corresponding to the SWLD (S405). At this time, the SWLD encoding unit 405 adds information to the header of the encoded three-dimensional data 414 to distinguish that the encoded three-dimensional data 414 is a stream including an SWLD.

Note that the order of the process for generating the encoded three-dimensional data 413 and the process for generating the encoded three-dimensional data 414 may be reversed. Furthermore, some or all of these processes may be performed in parallel.

For example, a parameter called "world_type" is defined as information added to the headers of the encoded 3D data 413 and 414. When world_type = 0, it indicates that the stream includes WLD, and when world_type = 1, it indicates that the stream includes SWLD. If many other types are defined, the assigned value can be increased, such as world_type = 2. Also, a specific flag may be included in one of the encoded 3D data 413 and 414. For example, a flag indicating that the stream includes SWLD may be added to the encoded 3D data 414. In this case, the decoding device can determine whether the stream includes WLD or SWLD based on the presence or absence of the flag.

Furthermore, the encoding method used by the WLD encoding unit 404 when encoding the WLD may be different from the encoding method used by the SWLD encoding unit 405 when encoding the SWLD.

For example, because data is thinned in SWLD, there is a possibility that the correlation with surrounding data may be lower than in WLD. Therefore, in the encoding method used in SWLD, inter prediction may be given priority over intra prediction and inter prediction over the encoding method used in WLD.

Furthermore, the encoding method used for SWLD and the encoding method used for WLD may differ in the way three-dimensional positions are expressed. For example, in SWLD, the three-dimensional position of FVXL may be expressed using three-dimensional coordinates, while in WLD, the three-dimensional position may be expressed using an octree, as described below, or vice versa.

The SWLD encoding unit 405 also performs encoding so that the data size of the SWLD encoded three-dimensional data 414 is smaller than the data size of the WLD encoded three-dimensional data 413. For example, as described above, SWLD may have lower correlation between data than WLD. This may result in lower encoding efficiency, and the data size of the encoded three-dimensional data 414 may be larger than the data size of the WLD encoded three-dimensional data 413. Therefore, if the data size of the obtained encoded three-dimensional data 414 is larger than the data size of the WLD encoded three-dimensional data 413, the SWLD encoding unit 405 re-encodes it to regenerate encoded three-dimensional data 414 with a reduced data size.

For example, the SWLD extraction unit 403 regenerates extracted three-dimensional data 412 with a reduced number of extracted feature points, and the SWLD encoding unit 405 encodes the extracted three-dimensional data 412. Alternatively, the degree of quantization in the SWLD encoding unit 405 may be made coarser. For example, in the octree structure described below, the degree of quantization can be made coarser by rounding the data at the lowest level.

Furthermore, if the data size of the encoded three-dimensional data 414 of the SWLD cannot be made smaller than the data size of the encoded three-dimensional data 413 of the WLD, the SWLD encoding unit 405 may not generate the encoded three-dimensional data 414 of the SWLD. Alternatively, the encoded three-dimensional data 413 of the WLD may be copied to the encoded three-dimensional data 414 of the SWLD. In other words, the encoded three-dimensional data 413 of the WLD may be used as is as the encoded three-dimensional data 414 of the SWLD.

Next, we will explain the configuration and operation flow of a three-dimensional data decoding device (e.g., a client) according to this embodiment. Figure 18 is a block diagram of a three-dimensional data decoding device 500 according to this embodiment. Figure 19 is a flowchart of the three-dimensional data decoding process performed by the three-dimensional data decoding device 500.

The three-dimensional data decoding device 500 shown in FIG. 18 generates decoded three-dimensional data 512 or 513 by decoding encoded three-dimensional data 511. Here, the encoded three-dimensional data 511 is, for example, encoded three-dimensional data 413 or 414 generated by the three-dimensional data encoding device 400.

This three-dimensional data decoding device 500 includes an acquisition unit 501, a header analysis unit 502, a WLD decoding unit 503, and an SWLD decoding unit 504.

As shown in FIG. 19, first, the acquisition unit 501 acquires encoded three-dimensional data 511 (S501). Next, the header analysis unit 502 analyzes the header of the encoded three-dimensional data 511 and determines whether the encoded three-dimensional data 511 is a stream including a WLD or a stream including a SWLD (S502). For example, the determination is made by referring to the world_type parameter described above.

If the encoded three-dimensional data 511 is a stream including a WLD (Yes in S503), the WLD decoding unit 503 decodes the encoded three-dimensional data 511 to generate decoded three-dimensional data 512 of the WLD (S504). On the other hand, if the encoded three-dimensional data 511 is a stream including a SWLD (No in S503), the SWLD decoding unit 504 decodes the encoded three-dimensional data 511 to generate decoded three-dimensional data 513 of the SWLD (S505).

Furthermore, as with the encoding device, the decoding method used by the WLD decoding unit 503 when decoding the WLD may be different from the decoding method used by the SWLD decoding unit 504 when decoding the SWLD. For example, in the decoding method used for the SWLD, inter prediction may be given priority over the decoding method used for the WLD, out of intra prediction and inter prediction.

Furthermore, the decoding method used for SWLD and the decoding method used for WLD may differ in the way three-dimensional positions are expressed. For example, in SWLD, the three-dimensional position of FVXL may be expressed using three-dimensional coordinates, while in WLD, the three-dimensional position may be expressed using an octree, as described below, or vice versa.

Next, we will explain octree representation, a method of representing three-dimensional positions. The VXL data contained in three-dimensional data is converted into an octree structure and then encoded. Figure 20 is a diagram showing an example of a VXL in a WLD. Figure 21 is a diagram showing the octree structure of the WLD shown in Figure 20. In the example shown in Figure 20, there are three VXLs (hereinafter referred to as valid VXLs) containing point clouds: VXL1 to VXL3. As shown in Figure 21, the octree structure is made up of nodes and leaves. Each node has a maximum of eight nodes or leaves. Each leaf has VXL information. Here, of the leaves shown in Figure 21, leaves 1, 2, and 3 represent VXL1, VXL2, and VXL3 shown in Figure 20, respectively.

Specifically, each node and leaf corresponds to a three-dimensional position. Node 1 corresponds to the entire block shown in Figure 20. The block corresponding to node 1 is divided into eight blocks, and of the eight blocks, the block containing a valid VXL is set as a node, and the other blocks are set as leaves. The block corresponding to the node is further divided into eight nodes or leaves, and this process is repeated for each level in the tree structure. In addition, all blocks in the lowest level are set as leaves.

Figure 22 is a diagram showing an example of an SWLD generated from the WLD shown in Figure 20. VXL1 and VXL2 shown in Figure 20 are determined to be FVXL1 and FVXL2 as a result of feature extraction and are added to the SWLD. On the other hand, VXL3 is not determined to be FVXL and is not included in the SWLD. Figure 23 is a diagram showing the octree structure of the SWLD shown in Figure 22. In the octree structure shown in Figure 23, leaf 3, which corresponds to VXL3 shown in Figure 21, has been deleted. As a result, node 3 shown in Figure 21 no longer has a valid VXL and has been changed to a leaf. In this way, the number of leaves in an SWLD is generally smaller than the number of leaves in a WLD, and the encoded 3D data of the SWLD is also smaller than the encoded 3D data of the WLD.

Below, we will explain some variations of this embodiment.

For example, when a client such as an in-vehicle device estimates its own position, it receives the SWLD from the server and uses the SWLD to estimate its own position. When detecting an obstacle, it may perform obstacle detection based on three-dimensional information about its surroundings that it has acquired using various methods, such as a distance sensor such as a range finder, a stereo camera, or a combination of multiple monocular cameras.

In addition, SWLDs generally do not contain VXL data for flat areas. Therefore, the server may store a subsampled world (subWLD) that is a subsample of the WLD for static obstacle detection, and send the SWLD and subWLD to the client. This allows the client to perform self-location estimation and obstacle detection while minimizing network bandwidth.

Furthermore, when a client wants to quickly draw 3D map data, it may be more convenient for the map information to have a mesh structure. Therefore, the server may generate a mesh from the WLD and store it in advance as a mesh world (MWLD). For example, if a client needs a coarse 3D drawing, it receives the MWLD, and if a detailed 3D drawing is required, it receives the WLD. This reduces network bandwidth.

Furthermore, while the server sets the VXL among the VXLs whose feature amounts are equal to or greater than a threshold as the FVXL, it is also possible to calculate the FVXL using a different method. For example, the server may determine that the VXL, VLM, SPC, or GOS that constitute a traffic light or intersection is necessary for self-location estimation, driving assistance, autonomous driving, etc., and include it in the SWLD as the FVXL, FVLM, FSPC, or FGOS. The above determination may also be made manually. Note that the FVXL, etc. obtained using the above method may be added to the FVXL, etc. set based on the feature amounts. In other words, the SWLD extraction unit 403 may further extract data corresponding to objects with predetermined attributes from the input 3D data 411 as the extracted 3D data 412.

It is also possible to label the features separately from those required for those purposes. The server may also separately store FVXL, which is required for self-localization at traffic lights or intersections, driving assistance, autonomous driving, etc., as a higher layer (e.g., lane world) than SWLD.

The server may also add attributes to VXLs in the WLD for each random access unit or for each specified unit. Attributes include, for example, information indicating whether they are necessary or unnecessary for self-location estimation, or information indicating whether they are important as traffic information such as traffic lights or intersections. Attributes may also include correspondence with features (such as intersections or roads) in lane information (such as GDF: Geographic Data Files).

The following methods may also be used to update the WLD or SWLD.

Updated information indicating changes in people, construction, or tree-lined streets (for trucks) is uploaded to the server as a point cloud or metadata. The server updates the WLD based on the upload, and then updates the SWLD using the updated WLD.

Furthermore, if the client detects an inconsistency between the 3D information it generated itself during self-location estimation and the 3D information it received from the server, it may send the 3D information it generated itself to the server along with an update notification. In this case, the server updates the SWLD using the WLD. If the SWLD is not updated, the server determines that the WLD itself is out of date.

In addition, although it has been stated that information distinguishing between WLD and SWLD is added to the header information of the encoded stream, if there are multiple types of worlds, such as mesh worlds or lane worlds, information distinguishing between them may also be added to the header information. In addition, if there are multiple SWLDs with different features, information distinguishing between them may also be added to the header information.

Furthermore, although the SWLD is said to be composed of FVXL, it may also include VXLs that have not been determined to be FVXLs. For example, the SWLD may include adjacent VXLs that are used when calculating the features of the FVXLs. This allows the client to calculate the features of the FVXLs when receiving the SWLD, even if feature information is not added to each FVXL in the SWLD. In this case, the SWLD may include information to distinguish whether each VXL is an FVXL or a VXL.

As described above, the three-dimensional data encoding device 400 extracts extracted three-dimensional data 412 (second three-dimensional data) whose feature amount is equal to or greater than a threshold value from input three-dimensional data 411 (first three-dimensional data), and generates encoded three-dimensional data 414 (first encoded three-dimensional data) by encoding the extracted three-dimensional data 412.

Accordingly, the three-dimensional data encoding device 400 generates encoded three-dimensional data 414 by encoding data whose feature amounts are equal to or greater than a threshold. This allows the amount of data to be reduced compared to when the input three-dimensional data 411 is encoded as is. Therefore, the three-dimensional data encoding device 400 can reduce the amount of data to be transmitted.

The three-dimensional data encoding device 400 further generates encoded three-dimensional data 413 (second encoded three-dimensional data) by encoding the input three-dimensional data 411.

As a result, the three-dimensional data encoding device 400 can selectively transmit encoded three-dimensional data 413 and encoded three-dimensional data 414, depending on, for example, the intended use.

Furthermore, the extracted three-dimensional data 412 is encoded using a first encoding method, and the input three-dimensional data 411 is encoded using a second encoding method that is different from the first encoding method.

This allows the three-dimensional data encoding device 400 to use encoding methods that are suitable for the input three-dimensional data 411 and the extracted three-dimensional data 412.

Furthermore, in the first encoding method, inter prediction is given priority over intra prediction and inter prediction in the second encoding method.

This allows the 3D data encoding device 400 to increase the priority of inter-prediction for extracted 3D data 412, which tends to have low correlation between adjacent data.

Furthermore, the first and second encoding methods differ in the way they represent three-dimensional positions. For example, the second encoding method represents three-dimensional positions using an octree, while the first encoding method represents three-dimensional positions using three-dimensional coordinates.

This allows the three-dimensional data encoding device 400 to use a more suitable three-dimensional position representation method for three-dimensional data with different numbers of data (number of VXLs or FVXLs).

In addition, at least one of the encoded three-dimensional data 413 and 414 includes an identifier indicating whether the encoded three-dimensional data is encoded three-dimensional data obtained by encoding the input three-dimensional data 411, or encoded three-dimensional data obtained by encoding a portion of the input three-dimensional data 411. In other words, the identifier indicates whether the encoded three-dimensional data is encoded three-dimensional data 413 of WLD or encoded three-dimensional data 414 of SWLD.

This allows the decoding device to easily determine whether the acquired encoded three-dimensional data is encoded three-dimensional data 413 or encoded three-dimensional data 414.

In addition, the three-dimensional data encoding device 400 encodes the extracted three-dimensional data 412 so that the data volume of the encoded three-dimensional data 414 is smaller than the data volume of the encoded three-dimensional data 413.

As a result, the three-dimensional data encoding device 400 can make the data volume of the encoded three-dimensional data 414 smaller than the data volume of the encoded three-dimensional data 413.

The three-dimensional data encoding device 400 further extracts data corresponding to objects with predetermined attributes from the input three-dimensional data 411 as extracted three-dimensional data 412. For example, objects with predetermined attributes are objects necessary for self-position estimation, driving assistance, or autonomous driving, such as traffic lights or intersections.

This allows the three-dimensional data encoding device 400 to generate encoded three-dimensional data 414 that includes data required by the decoding device.

The three-dimensional data encoding device 400 (server) also transmits one of the encoded three-dimensional data 413 and 414 to the client depending on the client's status.

This allows the three-dimensional data encoding device 400 to send appropriate data depending on the client's status.

The client's status also includes the client's communication status (e.g., network bandwidth) or the client's movement speed.

The three-dimensional data encoding device 400 also transmits one of the encoded three-dimensional data 413 and 414 to the client in response to a client request.

This allows the three-dimensional data encoding device 400 to transmit appropriate data in response to client requests.

In addition, the three-dimensional data decoding device 500 according to this embodiment decodes the encoded three-dimensional data 413 or 414 generated by the three-dimensional data encoding device 400.

In other words, the three-dimensional data decoding device 500 decodes, using a first decoding method, encoded three-dimensional data 414 obtained by encoding extracted three-dimensional data 412, whose feature amount extracted from input three-dimensional data 411 is equal to or greater than a threshold. Furthermore, the three-dimensional data decoding device 500 decodes, using a second decoding method different from the first decoding method, encoded three-dimensional data 413 obtained by encoding input three-dimensional data 411.

As a result, the three-dimensional data decoding device 500 can selectively receive the encoded three-dimensional data 414, which is data encoded with a feature amount equal to or greater than a threshold, and the encoded three-dimensional data 413, depending on, for example, the intended use. This allows the three-dimensional data decoding device 500 to reduce the amount of data to be transmitted. Furthermore, the three-dimensional data decoding device 500 can use decoding methods that are suitable for the input three-dimensional data 411 and the extracted three-dimensional data 412, respectively.

Furthermore, in the first decoding method, inter prediction is given priority over intra prediction and inter prediction over the second decoding method.

This allows the 3D data decoding device 500 to increase the priority of inter-prediction for extracted 3D data that is likely to have low correlation between adjacent data.

Furthermore, the first and second decoding methods differ in the way they represent three-dimensional positions. For example, the second decoding method represents three-dimensional positions using an octree, while the first decoding method represents three-dimensional positions using three-dimensional coordinates.

This allows the three-dimensional data decoding device 500 to use a more suitable three-dimensional position representation method for three-dimensional data with different numbers of data (number of VXLs or FVXLs).

In addition, at least one of the encoded three-dimensional data 413 and 414 includes an identifier indicating whether the encoded three-dimensional data is encoded three-dimensional data obtained by encoding the input three-dimensional data 411, or encoded three-dimensional data obtained by encoding a portion of the input three-dimensional data 411. The three-dimensional data decoding device 500 identifies the encoded three-dimensional data 413 and 414 by referring to the identifier.

This allows the three-dimensional data decoding device 500 to easily determine whether the acquired encoded three-dimensional data is encoded three-dimensional data 413 or encoded three-dimensional data 414.

The three-dimensional data decoding device 500 also notifies the server of the status of the client (three-dimensional data decoding device 500). Depending on the status of the client, the three-dimensional data decoding device 500 receives one of the encoded three-dimensional data 413 and 414 transmitted from the server.

This allows the three-dimensional data decoding device 500 to receive appropriate data depending on the client's status.

The client's status also includes the client's communication status (e.g., network bandwidth) or the client's movement speed.

The three-dimensional data decoding device 500 also requests one of the encoded three-dimensional data 413 and 414 from the server, and receives one of the encoded three-dimensional data 413 and 414 sent from the server in response to the request.

This allows the three-dimensional data decoding device 500 to receive appropriate data according to the application.

(Embodiment 3)
In this embodiment, a method for transmitting and receiving three-dimensional data between vehicles will be described. For example, three-dimensional data is transmitted and received between a vehicle and a surrounding vehicle.

Figure 24 is a block diagram of a three-dimensional data creation device 620 according to this embodiment. This three-dimensional data creation device 620 is included in, for example, the vehicle itself, and creates more detailed third three-dimensional data 636 by combining the received second three-dimensional data 635 with the first three-dimensional data 632 created by the three-dimensional data creation device 620.

This three-dimensional data creation device 620 includes a three-dimensional data creation unit 621, a requested range determination unit 622, a search unit 623, a receiving unit 624, a decoding unit 625, and a synthesis unit 626.

First, the three-dimensional data creation unit 621 creates first three-dimensional data 632 using sensor information 631 detected by a sensor equipped on the vehicle. Next, the required range determination unit 622 determines the required range, which is the three-dimensional spatial range for which data is insufficient within the created first three-dimensional data 632.

Next, the search unit 623 searches for nearby vehicles that have three-dimensional data within the requested range, and transmits requested range information 633 indicating the requested range to the nearby vehicles identified through the search. Next, the receiving unit 624 receives encoded three-dimensional data 634, which is an encoded stream of the requested range, from the nearby vehicles (S624). Note that the search unit 623 may indiscriminately issue a request to all vehicles within a specific range, and receive encoded three-dimensional data 634 from those that respond. The search unit 623 may also issue a request to objects other than vehicles, such as traffic lights or signs, and receive encoded three-dimensional data 634 from those objects.

Next, the decoding unit 625 obtains second three-dimensional data 635 by decoding the received encoded three-dimensional data 634. Next, the synthesis unit 626 synthesizes the first three-dimensional data 632 and the second three-dimensional data 635 to create denser third three-dimensional data 636.

Next, the configuration and operation of the three-dimensional data transmission device 640 according to this embodiment will be described. Figure 25 is a block diagram of the three-dimensional data transmission device 640.

The three-dimensional data transmission device 640 is, for example, included in the surrounding vehicle described above, and processes the fifth three-dimensional data 652 created by the surrounding vehicle into sixth three-dimensional data 654 requested by the host vehicle, encodes the sixth three-dimensional data 654 to generate encoded three-dimensional data 634, and transmits the encoded three-dimensional data 634 to the host vehicle.

The three-dimensional data transmission device 640 includes a three-dimensional data creation unit 641, a receiving unit 642, an extraction unit 643, an encoding unit 644, and a transmitting unit 645.

First, the three-dimensional data creation unit 641 creates fifth three-dimensional data 652 using sensor information 651 detected by sensors equipped on surrounding vehicles. Next, the receiving unit 642 receives requested range information 633 transmitted from the vehicle itself.

Next, the extraction unit 643 processes the fifth three-dimensional data 652 into sixth three-dimensional data 654 by extracting three-dimensional data within the requested range indicated by the requested range information 633 from the fifth three-dimensional data 652. Next, the encoding unit 644 encodes the sixth three-dimensional data 654 to generate encoded three-dimensional data 634, which is an encoded stream. The transmission unit 645 then transmits the encoded three-dimensional data 634 to the vehicle.

Note that, while an example is described here in which the vehicle itself is equipped with a three-dimensional data creation device 620 and the surrounding vehicles are equipped with a three-dimensional data transmission device 640, each vehicle may have the functions of both the three-dimensional data creation device 620 and the three-dimensional data transmission device 640.

(Embodiment 4)
In this embodiment, an abnormal operation in self-location estimation based on a three-dimensional map will be described.

It is expected that applications such as self-driving cars, or the autonomous movement of mobile objects such as robots, drones, and other flying objects will expand in the future. One example of a means of achieving such autonomous movement is a method in which a mobile object estimates its own position within a three-dimensional map (self-location estimation) and travels according to the map.

Self-position estimation can be achieved by matching a 3D map with 3D information about the surroundings of the vehicle (hereinafter referred to as vehicle-detected 3D data) obtained by sensors such as a rangefinder (such as LiDAR) or stereo camera mounted on the vehicle, and estimating the vehicle's position within the 3D map.

3D maps, such as the HD maps proposed by HERE, may include not only 3D point clouds, but also 2D map data such as road and intersection shape information, or real-time changing information such as traffic congestion and accidents. 3D maps are made up of multiple layers, including 3D data, 2D data, and real-time changing metadata, and devices can acquire or reference only the data they need.

Point cloud data may be the SWLD described above, or may include point group data that is not feature points. Furthermore, point cloud data is transmitted and received in one or more random access units.

The following method can be used to match a 3D map with vehicle-detected 3D data. For example, the device compares the shapes of the point groups in each point cloud and determines that areas with high similarity between feature points are in the same location. Furthermore, if the 3D map is composed of SWLDs, the device performs matching by comparing the feature points that make up the SWLDs with the 3D feature points extracted from the vehicle-detected 3D data.

Here, to estimate the vehicle's position with high accuracy, (A) it is necessary to acquire a 3D map and 3D vehicle detection data, and (B) the accuracy of these must meet predetermined standards. However, in the following abnormal cases, neither (A) nor (B) can be met.

(1) 3D maps cannot be obtained via communication.

(2) The 3D map does not exist, or the 3D map has been acquired but is corrupted.

(3) The vehicle's sensors are malfunctioning or the vehicle's 3D detection data is not generated with sufficient accuracy due to bad weather.

The operations for dealing with these abnormal cases are explained below. Below, the operations are explained using a car as an example, but the following method can be applied to any autonomously moving animal, such as a robot or drone.

The following describes the configuration and operation of a three-dimensional information processing device according to this embodiment, which is used to deal with abnormal cases in the three-dimensional map or vehicle-detected three-dimensional data. Figure 26 is a block diagram showing an example configuration of a three-dimensional information processing device 700 according to this embodiment.

The three-dimensional information processing device 700 is mounted on a moving object such as an automobile. As shown in FIG. 26, the three-dimensional information processing device 700 includes a three-dimensional map acquisition unit 701, a vehicle detection data acquisition unit 702, an abnormality case determination unit 703, a countermeasure operation determination unit 704, and an operation control unit 705.

The three-dimensional information processing device 700 may also include a two-dimensional or one-dimensional sensor (not shown) for detecting structures or animals around the vehicle, such as a camera that captures two-dimensional images or a sensor that captures one-dimensional data using ultrasound or a laser. The three-dimensional information processing device 700 may also include a communication unit (not shown) for acquiring three-dimensional maps via a mobile communication network such as 4G or 5G, or via vehicle-to-vehicle communication or road-to-vehicle communication.

The three-dimensional map acquisition unit 701 acquires a three-dimensional map 711 of the area near the driving route. For example, the three-dimensional map acquisition unit 701 acquires the three-dimensional map 711 via a mobile communication network, vehicle-to-vehicle communication, or road-to-vehicle communication.

Next, the vehicle detection data acquisition unit 702 acquires vehicle detection three-dimensional data 712 based on the sensor information. For example, the vehicle detection data acquisition unit 702 generates vehicle detection three-dimensional data 712 based on sensor information acquired by a sensor equipped in the vehicle.

Next, the abnormality case determination unit 703 detects an abnormality case by performing a predetermined check on at least one of the acquired three-dimensional map 711 and the vehicle-detected three-dimensional data 712. In other words, the abnormality case determination unit 703 determines whether at least one of the acquired three-dimensional map 711 and the vehicle-detected three-dimensional data 712 is abnormal.

When an abnormal case is detected, the countermeasure action determination unit 704 determines the countermeasure action to be taken for the abnormal case. Next, the operation control unit 705 controls the operation of each processing unit required to implement the countermeasure action, such as the 3D map acquisition unit 701.

On the other hand, if no abnormal cases are detected, the three-dimensional information processing device 700 terminates processing.

The three-dimensional information processing device 700 also uses the three-dimensional map 711 and the vehicle-detected three-dimensional data 712 to estimate the self-position of the vehicle having the three-dimensional information processing device 700. Next, the three-dimensional information processing device 700 uses the results of the self-position estimation to automatically drive the vehicle.

In this way, the three-dimensional information processing device 700 acquires map data (three-dimensional map 711) including first three-dimensional position information via a communication channel. For example, the first three-dimensional position information is encoded in units of subspaces having three-dimensional coordinate information, and each is a collection of one or more subspaces, and includes multiple random access units that can each be independently decoded. For example, the first three-dimensional position information is data (SWLD) in which feature points whose three-dimensional feature amounts are equal to or greater than a predetermined threshold are encoded.

The three-dimensional information processing device 700 also generates second three-dimensional position information (vehicle-detected three-dimensional data 712) from the information detected by the sensor. Next, the three-dimensional information processing device 700 performs an abnormality determination process on the first three-dimensional position information or the second three-dimensional position information to determine whether the first three-dimensional position information or the second three-dimensional position information is abnormal.

When the three-dimensional information processing device 700 determines that the first three-dimensional position information or the second three-dimensional position information indicates an abnormality, it determines a countermeasure action to be taken in response to the abnormality. Next, the three-dimensional information processing device 700 performs the control necessary to implement the countermeasure action.

This allows the three-dimensional information processing device 700 to detect abnormalities in the first three-dimensional position information or the second three-dimensional position information and take appropriate action.

Fifth Embodiment
In this embodiment, a method of transmitting three-dimensional data to a following vehicle will be described.

Figure 27 is a block diagram showing an example configuration of a three-dimensional data creation device 810 according to this embodiment. This three-dimensional data creation device 810 is mounted on a vehicle, for example. The three-dimensional data creation device 810 sends and receives three-dimensional data to and from an external traffic monitoring cloud, a leading vehicle, or a following vehicle, and also creates and stores three-dimensional data.

The three-dimensional data creation device 810 includes a data receiving unit 811, a communication unit 812, a reception control unit 813, a format conversion unit 814, multiple sensors 815, a three-dimensional data creation unit 816, a three-dimensional data synthesis unit 817, a three-dimensional data storage unit 818, a communication unit 819, a transmission control unit 820, a format conversion unit 821, and a data transmission unit 822.

The data receiving unit 811 receives three-dimensional data 831 from a traffic monitoring cloud or a preceding vehicle. The three-dimensional data 831 includes, for example, information such as a point cloud, visible light image, depth information, sensor position information, or speed information, including areas that cannot be detected by the vehicle's own sensor 815.

The communication unit 812 communicates with the traffic monitoring cloud or the vehicle ahead, and sends data transmission requests, etc. to the traffic monitoring cloud or the vehicle ahead.

The reception control unit 813 exchanges information such as supported formats with the communication destination via the communication unit 812, and establishes communication with the communication destination.

The format conversion unit 814 generates three-dimensional data 832 by performing format conversion and other operations on the three-dimensional data 831 received by the data receiving unit 811. Furthermore, if the three-dimensional data 831 is compressed or encoded, the format conversion unit 814 performs decompression or decoding processing.

The multiple sensors 815 are a group of sensors that acquire information about the outside of the vehicle, such as LiDAR, a visible light camera, or an infrared camera, and generate sensor information 833. For example, if the sensor 815 is a laser sensor such as LiDAR, the sensor information 833 is three-dimensional data such as a point cloud (point cloud data). Note that the number of sensors 815 does not need to be multiple.

The three-dimensional data creation unit 816 generates three-dimensional data 834 from the sensor information 833. The three-dimensional data 834 includes information such as a point cloud, visible light image, depth information, sensor position information, or velocity information.

The three-dimensional data synthesis unit 817 synthesizes three-dimensional data 834 created based on the vehicle's own sensor information 833 with three-dimensional data 832 created by the traffic monitoring cloud or the vehicle in front, etc., to construct three-dimensional data 835 that includes the space ahead of the vehicle in front, which cannot be detected by the vehicle's own sensor 815.

The three-dimensional data storage unit 818 stores the generated three-dimensional data 835, etc.

The communication unit 819 communicates with the traffic monitoring cloud or the following vehicle, and sends data transmission requests, etc. to the traffic monitoring cloud or the following vehicle.

The transmission control unit 820 exchanges information such as supported formats with the communication destination via the communication unit 819, and establishes communication with the communication destination. The transmission control unit 820 also determines the transmission area, which is the space of the three-dimensional data to be transmitted, based on the three-dimensional data construction information of the three-dimensional data 832 generated by the three-dimensional data synthesis unit 817 and the data transmission request from the communication destination.

Specifically, in response to a data transmission request from the traffic monitoring cloud or a following vehicle, the transmission control unit 820 determines a transmission area that includes the space ahead of the vehicle that cannot be detected by the following vehicle's sensors. The transmission control unit 820 also determines the transmission area by determining whether the space available for transmission or the space that has already been transmitted has been updated based on the three-dimensional data construction information. For example, the transmission control unit 820 determines the area specified in the data transmission request and in which the corresponding three-dimensional data 835 exists as the transmission area. The transmission control unit 820 then notifies the format conversion unit 821 of the format supported by the communication destination and the transmission area.

The format conversion unit 821 generates three-dimensional data 837 by converting the three-dimensional data 836 of the transmission area, which is part of the three-dimensional data 835 stored in the three-dimensional data storage unit 818, into a format supported by the receiving side. The format conversion unit 821 may also reduce the amount of data by compressing or encoding the three-dimensional data 837.

The data transmission unit 822 transmits three-dimensional data 837 to the traffic monitoring cloud or the following vehicle. This three-dimensional data 837 includes information such as a point cloud ahead of the vehicle, visible light image, depth information, or sensor position information, including areas that are blind spots for the following vehicle.

Note that although an example has been described in which format conversion is performed by format conversion units 814 and 821, format conversion does not necessarily have to be performed.

With this configuration, the three-dimensional data creation device 810 externally acquires three-dimensional data 831 of an area that cannot be detected by the vehicle's sensor 815, and generates three-dimensional data 835 by combining the three-dimensional data 831 with three-dimensional data 834 based on sensor information 833 detected by the vehicle's sensor 815. This allows the three-dimensional data creation device 810 to generate three-dimensional data of an area that cannot be detected by the vehicle's sensor 815.

In addition, in response to a data transmission request from the traffic monitoring cloud or a following vehicle, the three-dimensional data creation device 810 can transmit three-dimensional data including the space ahead of the vehicle that cannot be detected by the following vehicle's sensors to the traffic monitoring cloud or the following vehicle, etc.

(Embodiment 6)
In the fifth embodiment, an example has been described in which a client device such as a vehicle transmits three-dimensional data to another vehicle or a server such as a traffic monitoring cloud. In this embodiment, the client device transmits sensor information obtained by a sensor to the server or another client device.

First, the configuration of the system according to this embodiment will be described. Figure 28 is a diagram showing the configuration of a system for transmitting and receiving 3D maps and sensor information according to this embodiment. This system includes a server 901 and client devices 902A and 902B. Note that when there is no need to distinguish between client devices 902A and 902B, they will also be referred to as client device 902.

The client device 902 is, for example, an in-vehicle device mounted on a moving object such as a vehicle. The server 901 is, for example, a traffic monitoring cloud, and is capable of communicating with multiple client devices 902.

The server 901 transmits a three-dimensional map composed of a point cloud to the client device 902. Note that the composition of the three-dimensional map is not limited to a point cloud, and may represent other three-dimensional data such as a mesh structure.

The client device 902 transmits sensor information acquired by the client device 902 to the server 901. The sensor information includes, for example, at least one of LiDAR acquisition information, visible light images, infrared images, depth images, sensor position information, and velocity information.

Data sent and received between the server 901 and the client device 902 may be compressed to reduce data volume, or may remain uncompressed to maintain data accuracy. When compressing data, a three-dimensional compression method based on an octree structure, for example, can be used for point clouds. Furthermore, a two-dimensional image compression method can be used for visible light images, infrared images, and depth images. Examples of two-dimensional image compression methods include MPEG-4 AVC or HEVC, which are standardized by MPEG.

In addition, the server 901 transmits the three-dimensional map managed by the server 901 to the client device 902 in response to a request to send the three-dimensional map from the client device 902. Note that the server 901 may transmit the three-dimensional map without waiting for a request to send the three-dimensional map from the client device 902. For example, the server 901 may broadcast the three-dimensional map to one or more client devices 902 located in a predetermined space. In addition, the server 901 may transmit a three-dimensional map appropriate to the location of the client device 902 at regular intervals to the client device 902 once it has received a transmission request. In addition, the server 901 may transmit the three-dimensional map to the client device 902 each time the three-dimensional map managed by the server 901 is updated.

The client device 902 issues a request to the server 901 to send a three-dimensional map. For example, if the client device 902 wants to estimate its own position while driving, the client device 902 sends a request to the server 901 to send a three-dimensional map.

In the following cases, the client device 902 may issue a request to the server 901 to send a three-dimensional map. If the three-dimensional map held by the client device 902 is old, the client device 902 may issue a request to the server 901 to send a three-dimensional map. For example, if a certain period of time has passed since the client device 902 obtained the three-dimensional map, the client device 902 may issue a request to the server 901 to send a three-dimensional map.

The client device 902 may issue a request to the server 901 to send a three-dimensional map a certain time before the client device 902 leaves the space shown in the three-dimensional map held by the client device 902. For example, if the client device 902 is located within a predetermined distance from the boundary of the space shown in the three-dimensional map held by the client device 902, the client device 902 may issue a request to the server 901 to send a three-dimensional map. Furthermore, if the movement path and movement speed of the client device 902 are known, the time when the client device 902 will leave the space shown in the three-dimensional map held by the client device 902 may be predicted based on these.

If the error when aligning the 3D data created by the client device 902 from sensor information with the 3D map is equal to or greater than a certain level, the client device 902 may request the server 901 to send the 3D map.

The client device 902 transmits sensor information to the server 901 in response to a request to transmit sensor information transmitted from the server 901. Note that the client device 902 may also transmit sensor information to the server 901 without waiting for a request to transmit sensor information from the server 901. For example, once the client device 902 receives a request to transmit sensor information from the server 901, it may periodically transmit the sensor information to the server 901 for a certain period of time. Furthermore, if the error in aligning the three-dimensional data created by the client device 902 based on the sensor information with the three-dimensional map obtained from the server 901 is equal to or greater than a certain level, the client device 902 may determine that a change may have occurred in the three-dimensional map around the client device 902, and may transmit this information along with the sensor information to the server 901.

The server 901 issues a request to send sensor information to the client device 902. For example, the server 901 receives location information of the client device 902, such as GPS, from the client device 902. If the server 901 determines, based on the location information of the client device 902, that the client device 902 is approaching a space with little information in the three-dimensional map managed by the server 901, it issues a request to send sensor information to the client device 902 in order to generate a new three-dimensional map. The server 901 may also issue a request to send sensor information when it wants to update the three-dimensional map, when it wants to check road conditions during snowfall or disasters, when it wants to check traffic congestion, or when it wants to check incident and accident status, etc.

The client device 902 may also set the amount of sensor information data to be sent to the server 901 depending on the communication state or bandwidth at the time of receiving a request to send sensor information from the server 901. Setting the amount of sensor information data to be sent to the server 901 means, for example, increasing or decreasing the amount of data itself, or appropriately selecting a compression method.

Figure 29 is a block diagram showing an example configuration of a client device 902. The client device 902 receives a three-dimensional map composed of a point cloud or the like from the server 901, and estimates the client device's own position from three-dimensional data created based on the client device's 902 sensor information. The client device 902 also transmits the acquired sensor information to the server 901.

The client device 902 includes a data receiving unit 1011, a communication unit 1012, a reception control unit 1013, a format conversion unit 1014, multiple sensors 1015, a three-dimensional data creation unit 1016, a three-dimensional image processing unit 1017, a three-dimensional data storage unit 1018, a format conversion unit 1019, a communication unit 1020, a transmission control unit 1021, and a data transmission unit 1022.

The data receiving unit 1011 receives a three-dimensional map 1031 from the server 901. The three-dimensional map 1031 is data including a point cloud such as a WLD or SWLD. The three-dimensional map 1031 may include either compressed data or uncompressed data.

The communication unit 1012 communicates with the server 901 and sends data transmission requests (e.g., requests to transmit three-dimensional maps) to the server 901.

The reception control unit 1013 exchanges information such as supported formats with the communication destination via the communication unit 1012, and establishes communication with the communication destination.

The format conversion unit 1014 generates a three-dimensional map 1032 by performing format conversion and the like on the three-dimensional map 1031 received by the data receiving unit 1011. Furthermore, if the three-dimensional map 1031 is compressed or encoded, the format conversion unit 1014 performs decompression or decoding processing. Note that if the three-dimensional map 1031 is uncompressed data, the format conversion unit 1014 does not perform decompression or decoding processing.

The multiple sensors 1015 are a group of sensors, such as LiDAR, a visible light camera, an infrared camera, or a depth sensor, that acquire information about the outside of the vehicle in which the client device 902 is mounted, and generate sensor information 1033. For example, if the sensor 1015 is a laser sensor such as LiDAR, the sensor information 1033 is three-dimensional data such as a point cloud (point cloud data). Note that the number of sensors 1015 does not need to be multiple.

The three-dimensional data creation unit 1016 creates three-dimensional data 1034 of the surroundings of the vehicle based on the sensor information 1033. For example, the three-dimensional data creation unit 1016 creates point cloud data with color information of the surroundings of the vehicle using information acquired by LiDAR and visible light images acquired by a visible light camera.

The three-dimensional image processing unit 1017 performs processes such as estimating the vehicle's own position using a three-dimensional map 1032 such as a received point cloud and three-dimensional data 1034 of the vehicle's surroundings generated from sensor information 1033. The three-dimensional image processing unit 1017 may also generate three-dimensional data 1035 of the vehicle's surroundings by combining the three-dimensional map 1032 and the three-dimensional data 1034, and perform the vehicle's own position estimation process using the generated three-dimensional data 1035.

The three-dimensional data storage unit 1018 stores three-dimensional map 1032, three-dimensional data 1034, three-dimensional data 1035, etc.

The format conversion unit 1019 generates sensor information 1037 by converting the sensor information 1033 into a format supported by the receiving side. The format conversion unit 1019 may reduce the amount of data by compressing or encoding the sensor information 1037. The format conversion unit 1019 may also omit processing if format conversion is not necessary. The format conversion unit 1019 may also control the amount of data to be transmitted depending on the specified transmission range.

The communication unit 1020 communicates with the server 901 and receives data transmission requests (requests to transmit sensor information) and the like from the server 901.

The transmission control unit 1021 exchanges information such as supported formats with the communication destination via the communication unit 1020, establishing communication.

The data transmission unit 1022 transmits sensor information 1037 to the server 901. The sensor information 1037 includes information acquired by multiple sensors 1015, such as information acquired by LiDAR, a luminance image acquired by a visible light camera, an infrared image acquired by an infrared camera, a depth image acquired by a depth sensor, sensor position information, and speed information.

Next, the configuration of the server 901 will be described. Figure 30 is a block diagram showing an example configuration of the server 901. The server 901 receives sensor information transmitted from the client device 902 and creates three-dimensional data based on the received sensor information. The server 901 uses the created three-dimensional data to update the three-dimensional map managed by the server 901. In addition, the server 901 transmits the updated three-dimensional map to the client device 902 in response to a request from the client device 902 to transmit the three-dimensional map.

The server 901 includes a data receiving unit 1111, a communication unit 1112, a reception control unit 1113, a format conversion unit 1114, a three-dimensional data creation unit 1116, a three-dimensional data synthesis unit 1117, a three-dimensional data storage unit 1118, a format conversion unit 1119, a communication unit 1120, a transmission control unit 1121, and a data transmission unit 1122.

The data receiving unit 1111 receives sensor information 1037 from the client device 902. The sensor information 1037 includes, for example, information acquired by LiDAR, a luminance image acquired by a visible light camera, an infrared image acquired by an infrared camera, a depth image acquired by a depth sensor, sensor position information, and speed information.

The communication unit 1112 communicates with the client device 902 and sends data transmission requests (e.g., requests to transmit sensor information) to the client device 902.

The reception control unit 1113 exchanges information such as supported formats with the communication destination via the communication unit 1112, establishing communication.

If the received sensor information 1037 is compressed or encoded, the format conversion unit 1114 performs decompression or decoding to generate sensor information 1132. Note that if the sensor information 1037 is uncompressed data, the format conversion unit 1114 does not perform decompression or decoding.

The three-dimensional data creation unit 1116 creates three-dimensional data 1134 of the surroundings of the client device 902 based on the sensor information 1132. For example, the three-dimensional data creation unit 1116 creates point cloud data with color information of the surroundings of the client device 902 using information acquired by LiDAR and visible light images acquired by a visible light camera.

The three-dimensional data synthesis unit 1117 updates the three-dimensional map 1135 managed by the server 901 by synthesizing the three-dimensional data 1134 created based on the sensor information 1132 with the three-dimensional map 1135.

The three-dimensional data storage unit 1118 stores three-dimensional maps 1135 and the like.

The format conversion unit 1119 generates the three-dimensional map 1031 by converting the three-dimensional map 1135 into a format supported by the receiving side. The format conversion unit 1119 may reduce the amount of data by compressing or encoding the three-dimensional map 1135. The format conversion unit 1119 may also omit processing if format conversion is not necessary. The format conversion unit 1119 may also control the amount of data to be transmitted depending on the specified transmission range.

The communication unit 1120 communicates with the client device 902 and receives data transmission requests (requests to transmit three-dimensional maps) and the like from the client device 902.

The transmission control unit 1121 exchanges information such as supported formats with the communication destination via the communication unit 1120, establishing communication.

The data transmission unit 1122 transmits the three-dimensional map 1031 to the client device 902. The three-dimensional map 1031 is data including a point cloud such as a WLD or SWLD. The three-dimensional map 1031 may include either compressed data or uncompressed data.

Next, we will explain the operational flow of the client device 902. Figure 31 is a flowchart showing the operation of the client device 902 when acquiring a 3D map.

First, the client device 902 requests the server 901 to send a three-dimensional map (such as a point cloud) (S1001). At this time, the client device 902 may also send location information of the client device 902 obtained by GPS or the like, thereby requesting the server 901 to send a three-dimensional map related to that location information.

Next, the client device 902 receives the 3D map from the server 901 (S1002). If the received 3D map is compressed data, the client device 902 decodes the received 3D map to generate an uncompressed 3D map (S1003).

Next, the client device 902 creates three-dimensional data 1034 of the area around the client device 902 from sensor information 1033 obtained by multiple sensors 1015 (S1004). Next, the client device 902 estimates its own position using the three-dimensional map 1032 received from the server 901 and the three-dimensional data 1034 created from the sensor information 1033 (S1005).

Figure 32 is a flowchart showing the operation of the client device 902 when transmitting sensor information. First, the client device 902 receives a request to transmit sensor information from the server 901 (S1011). Upon receiving the transmission request, the client device 902 transmits sensor information 1037 to the server 901 (S1012). Note that if the sensor information 1033 includes multiple pieces of information obtained from multiple sensors 1015, the client device 902 may generate the sensor information 1037 by compressing each piece of information using a compression method appropriate for that piece of information.

Next, the operational flow of the server 901 will be described. Figure 33 is a flowchart showing the operation of the server 901 when acquiring sensor information. First, the server 901 requests the client device 902 to transmit sensor information (S1021). Next, the server 901 receives the sensor information 1037 transmitted from the client device 902 in response to the request (S1022). Next, the server 901 creates three-dimensional data 1134 using the received sensor information 1037 (S1023). Next, the server 901 reflects the created three-dimensional data 1134 in the three-dimensional map 1135 (S1024).

Figure 34 is a flowchart showing the operation of the server 901 when transmitting a three-dimensional map. First, the server 901 receives a request to transmit a three-dimensional map from the client device 902 (S1031). Having received the request to transmit a three-dimensional map, the server 901 transmits a three-dimensional map 1031 to the client device 902 (S1032). At this time, the server 901 may extract a three-dimensional map of the vicinity based on the location information of the client device 902 and transmit the extracted three-dimensional map. The server 901 may also compress the three-dimensional map composed of a point cloud using, for example, a compression method with an octree structure, and transmit the compressed three-dimensional map.

Below, we will explain some variations of this embodiment.

The server 901 uses the sensor information 1037 received from the client device 902 to create three-dimensional data 1134 of the vicinity of the position of the client device 902. Next, the server 901 calculates the difference between the three-dimensional data 1134 and the three-dimensional map 1135 by matching the created three-dimensional data 1134 with a three-dimensional map 1135 of the same area managed by the server 901. If the difference is equal to or greater than a predetermined threshold, the server 901 determines that some kind of abnormality has occurred in the vicinity of the client device 902. For example, when ground subsidence occurs due to a natural disaster such as an earthquake, a large difference can occur between the three-dimensional map 1135 managed by the server 901 and the three-dimensional data 1134 created based on the sensor information 1037.

The sensor information 1037 may include information indicating at least one of the sensor type, sensor performance, and sensor model number. Furthermore, a class ID or the like according to the sensor performance may be added to the sensor information 1037. For example, if the sensor information 1037 is information acquired by LiDAR, an identifier may be assigned to the sensor performance, such as Class 1 for a sensor that can acquire information with an accuracy of several millimeters, Class 2 for a sensor that can acquire information with an accuracy of several centimeters, and Class 3 for a sensor that can acquire information with an accuracy of several meters. Furthermore, the server 901 may estimate the sensor performance information, etc., from the model number of the client device 902. For example, if the client device 902 is installed in a vehicle, the server 901 may determine the sensor specification information from the vehicle model. In this case, the server 901 may acquire vehicle model information in advance, or this information may be included in the sensor information. The server 901 may also use the acquired sensor information 1037 to switch the degree of correction applied to the three-dimensional data 1134 created using the sensor information 1037. For example, if the sensor performance is high accuracy (class 1), the server 901 does not apply correction to the three-dimensional data 1134. If the sensor performance is low accuracy (class 3), the server 901 applies correction to the three-dimensional data 1134 according to the sensor accuracy. For example, the server 901 increases the degree (strength) of correction as the sensor accuracy decreases.

The server 901 may simultaneously issue requests to send sensor information to multiple client devices 902 in a certain space. When the server 901 receives multiple pieces of sensor information from multiple client devices 902, it is not necessary for the server 901 to use all of the sensor information to create the three-dimensional data 1134; for example, the server 901 may select the sensor information to use depending on the performance of the sensor. For example, when updating the three-dimensional map 1135, the server 901 may select high-precision sensor information (Class 1) from the multiple pieces of sensor information it has received, and use the selected sensor information to create the three-dimensional data 1134.

The server 901 is not limited to a server such as a traffic monitoring cloud, but may also be another client device (mounted in a vehicle). Figure 35 shows the system configuration in this case.

For example, client device 902C issues a request to send sensor information to nearby client device 902A and acquires the sensor information from client device 902A. Client device 902C then creates three-dimensional data using the acquired sensor information from client device 902A and updates the three-dimensional map of client device 902C. This allows client device 902C to generate a three-dimensional map of the space that can be acquired from client device 902A, taking advantage of the performance of client device 902C. For example, this type of case is likely to occur when client device 902C has high performance.

In this case, client device 902A, which provided the sensor information, is granted the right to obtain the high-precision 3D map generated by client device 902C. Client device 902A receives the high-precision 3D map from client device 902C in accordance with that right.

In addition, client device 902C may issue requests to multiple nearby client devices 902 (client device 902A and client device 902B) to send sensor information. If the sensor of client device 902A or client device 902B is high performance, client device 902C can create three-dimensional data using the sensor information obtained by this high performance sensor.

Figure 36 is a block diagram showing the functional configuration of the server 901 and client device 902. The server 901 includes, for example, a 3D map compression/decoding processing unit 1201 that compresses and decodes 3D maps, and a sensor information compression/decoding processing unit 1202 that compresses and decodes sensor information.

The client device 902 comprises a three-dimensional map decoding processing unit 1211 and a sensor information compression processing unit 1212. The three-dimensional map decoding processing unit 1211 receives encoded data of the compressed three-dimensional map and decodes the encoded data to obtain the three-dimensional map. The sensor information compression processing unit 1212 compresses the sensor information itself instead of the three-dimensional data created from the acquired sensor information, and transmits the encoded data of the compressed sensor information to the server 901. With this configuration, the client device 902 only needs to internally include a processing unit (device or LSI) that performs the processing to decode the three-dimensional map (point cloud, etc.), and does not need to internally include a processing unit that performs the processing to compress the three-dimensional data of the three-dimensional map (point cloud, etc.). This allows the cost and power consumption of the client device 902 to be reduced.

As described above, the client device 902 according to this embodiment is mounted on a mobile body and creates three-dimensional data 1034 of the surroundings of the mobile body from sensor information 1033 indicating the surrounding conditions of the mobile body, obtained by the sensor 1015 mounted on the mobile body. The client device 902 estimates the self-position of the mobile body using the created three-dimensional data 1034. The client device 902 transmits the acquired sensor information 1033 to the server 901 or another mobile body 902.

According to this, the client device 902 transmits sensor information 1033 to the server 901, etc. This may reduce the amount of data transmitted compared to when transmitting three-dimensional data. Furthermore, since the client device 902 does not need to perform processes such as compressing or encoding the three-dimensional data, the amount of processing required by the client device 902 can be reduced. Therefore, the client device 902 can reduce the amount of data transmitted or simplify the device configuration.

The client device 902 also transmits a request to the server 901 to send a three-dimensional map, and receives the three-dimensional map 1031 from the server 901. The client device 902 estimates its own location using the three-dimensional data 1034 and the three-dimensional map 1032.

In addition, the sensor information 1033 includes at least one of information obtained by a laser sensor, a brightness image, an infrared image, a depth image, sensor position information, and sensor speed information.

Sensor information 1033 also includes information indicating the performance of the sensor.

In addition, the client device 902 encodes or compresses the sensor information 1033, and when transmitting the sensor information, transmits the encoded or compressed sensor information 1037 to the server 901 or another mobile body 902. This allows the client device 902 to reduce the amount of data transmitted.

For example, the client device 902 includes a processor and memory, and the processor uses the memory to perform the above processing.

In addition, the server 901 according to this embodiment is capable of communicating with a client device 902 mounted on the mobile object, and receives from the client device 902 sensor information 1037 indicating the surrounding conditions of the mobile object, obtained by a sensor 1015 mounted on the mobile object. The server 901 creates three-dimensional data 1134 of the surroundings of the mobile object from the received sensor information 1037.

According to this, the server 901 creates three-dimensional data 1134 using sensor information 1037 transmitted from the client device 902. This potentially reduces the amount of data transmitted compared to when the client device 902 transmits the three-dimensional data. Furthermore, since the client device 902 does not need to perform processes such as compressing or encoding the three-dimensional data, the amount of processing required by the client device 902 can be reduced. Therefore, the server 901 can reduce the amount of data transmitted or simplify the device configuration.

The server 901 also sends a request to the client device 902 to send sensor information.

The server 901 also updates the three-dimensional map 1135 using the created three-dimensional data 1134, and transmits the three-dimensional map 1135 to the client device 902 in response to a request from the client device 902 to transmit the three-dimensional map 1135.

In addition, the sensor information 1037 includes at least one of information obtained by a laser sensor, a brightness image, an infrared image, a depth image, sensor position information, and sensor speed information.

Sensor information 1037 also includes information indicating the performance of the sensor.

The server 901 also corrects the three-dimensional data according to the performance of the sensor. This allows the three-dimensional data creation method to improve the quality of the three-dimensional data.

Furthermore, when receiving sensor information, the server 901 receives multiple pieces of sensor information 1037 from multiple client devices 902, and selects the sensor information 1037 to use in creating the three-dimensional data 1134 based on multiple pieces of information indicating the performance of the sensors contained in the multiple pieces of sensor information 1037. This allows the server 901 to improve the quality of the three-dimensional data 1134.

The server 901 also decodes or decompresses the received sensor information 1037 and creates three-dimensional data 1134 from the decoded or decompressed sensor information 1132. This allows the server 901 to reduce the amount of data transmitted.

For example, server 901 includes a processor and memory, and the processor uses the memory to perform the above processing.

Seventh Embodiment
In this embodiment, a method for encoding and decoding three-dimensional data using inter prediction processing will be described.

Figure 37 is a block diagram of a three-dimensional data encoding device 1300 according to this embodiment. This three-dimensional data encoding device 1300 generates an encoded bitstream (hereinafter simply referred to as a bitstream), which is an encoded signal, by encoding three-dimensional data. As shown in Figure 37, the three-dimensional data encoding device 1300 includes a division unit 1301, a subtraction unit 1302, a transformation unit 1303, a quantization unit 1304, an inverse quantization unit 1305, an inverse transformation unit 1306, an addition unit 1307, a reference volume memory 1308, an intra prediction unit 1309, a reference space memory 1310, an inter prediction unit 1311, a prediction control unit 1312, and an entropy encoding unit 1313.

The division unit 1301 divides each space (SPC) included in the three-dimensional data into multiple volumes (VLMs), which are encoding units. The division unit 1301 also converts the voxels in each volume into an octree representation. Note that the division unit 1301 may make the space and volume the same size and convert the space into an octree representation. The division unit 1301 may also add information required for octree conversion (such as depth information) to the bitstream header, etc.

The subtraction unit 1302 calculates the difference between the volume (volume to be coded) output from the division unit 1301 and a predicted volume generated by intra-prediction or inter-prediction, which will be described later, and outputs the calculated difference as a prediction residual to the conversion unit 1303. Figure 38 is a diagram showing an example of how a prediction residual is calculated. Note that the bit strings of the volume to be coded and the predicted volume shown here are positional information indicating, for example, the positions of three-dimensional points (e.g., a point cloud) included in the volume.

The octree representation and voxel scanning order are explained below. The volume is converted into an octree structure (octreeing) and then encoded. The octree structure consists of nodes and leaves. Each node has eight nodes or leaves, and each leaf has voxel (VXL) information. Figure 39 is a diagram showing an example of the structure of a volume containing multiple voxels. Figure 40 is a diagram showing an example of the volume shown in Figure 39 converted into an octree structure. Here, of the leaves shown in Figure 40, leaves 1, 2, and 3 represent voxels VXL1, VXL2, and VXL3 shown in Figure 39, respectively, and represent a VXL containing a point cloud (hereinafter referred to as a valid VXL).

An octree is represented by a binary sequence of, for example, 0s and 1s. For example, if a node or valid VXL is given a value of 1 and everything else is given a value of 0, then each node and leaf is assigned the binary sequence shown in Figure 40. This binary sequence is then scanned according to the scan order, either breadth-first or depth-first. For example, when scanned breadth-first, the binary sequence shown in Figure 41A is obtained. When scanned depth-first, the binary sequence shown in Figure 41B is obtained. The binary sequence obtained by this scan is then coded using entropy coding to reduce the amount of information.

Next, we will explain depth information in octree representation. Depth in octree representation is used to control the granularity of the point cloud information contained within the volume to be retained. Setting the depth higher allows point cloud information to be reproduced at a finer level, but the amount of data required to represent nodes and leaves increases. Conversely, setting the depth lower reduces the amount of data, but since multiple point cloud information with different positions and colors is considered to be in the same position and with the same color, the information contained in the original point cloud information will be lost.

For example, Figure 42 shows an example of expressing the octree with depth = 2 shown in Figure 40 as an octree with depth = 1. The octree shown in Figure 42 has less data than the octree shown in Figure 40. In other words, the octree shown in Figure 42 has fewer bits after binary string conversion than the octree shown in Figure 42. Here, leaf 1 and leaf 2 shown in Figure 40 are expressed by leaf 1 shown in Figure 41. In other words, the information that leaf 1 and leaf 2 shown in Figure 40 were in different positions is lost.

Figure 43 is a diagram showing the volume corresponding to the octree shown in Figure 42. VXL1 and VXL2 shown in Figure 39 correspond to VXL12 shown in Figure 43. In this case, the three-dimensional data encoding device 1300 generates the color information of VXL12 shown in Figure 43 from the color information of VXL1 and VXL2 shown in Figure 39. For example, the three-dimensional data encoding device 1300 calculates the average, median, or weighted average value of the color information of VXL1 and VXL2 as the color information of VXL12. In this way, the three-dimensional data encoding device 1300 may control the reduction of data volume by changing the depth of the octree.

The three-dimensional data encoding device 1300 may set the depth information of the octree in any of the following units: world unit, space unit, or volume unit. In this case, the three-dimensional data encoding device 1300 may add the depth information to the world header information, space header information, or volume header information. The same value may also be used as the depth information for all worlds, spaces, and volumes at different times. In this case, the three-dimensional data encoding device 1300 may add the depth information to the header information that manages the worlds over all time periods.

If the voxels contain color information, the transform unit 1303 applies a frequency transform such as an orthogonal transform to the prediction residuals of the color information of the voxels within the volume. For example, the transform unit 1303 creates a one-dimensional array by scanning the prediction residuals in a certain scan order. The transform unit 1303 then applies a one-dimensional orthogonal transform to the created one-dimensional array to convert it into the frequency domain. As a result, when the values of the prediction residuals within the volume are close, the values of the low-frequency components become larger and the values of the high-frequency components become smaller. This allows the quantization unit 1304 to reduce the amount of code more efficiently.

The transform unit 1303 may also use a two- or higher-dimensional orthogonal transform rather than a one-dimensional one. For example, the transform unit 1303 maps the prediction residuals to a two-dimensional array in a certain scan order and applies a two-dimensional orthogonal transform to the obtained two-dimensional array. The transform unit 1303 may also select an orthogonal transform method to use from multiple orthogonal transform methods. In this case, the three-dimensional data encoding device 1300 adds information indicating which orthogonal transform method was used to the bitstream. The transform unit 1303 may also select an orthogonal transform method to use from multiple orthogonal transform methods of different dimensions. In this case, the three-dimensional data encoding device 1300 adds information indicating which orthogonal transform method was used to the bitstream.

For example, the conversion unit 1303 aligns the scan order of the prediction residuals with the scan order (breadth-first, depth-first, etc.) of the octree within the volume. This eliminates the need to add information indicating the scan order of the prediction residuals to the bitstream, thereby reducing overhead. The conversion unit 1303 may also apply a scan order different from the scan order of the octree. In this case, the 3D data encoding device 1300 adds information indicating the scan order of the prediction residuals to the bitstream. This allows the 3D data encoding device 1300 to efficiently encode the prediction residuals. The 3D data encoding device 1300 may also add information (such as a flag) indicating whether or not to apply the octree scan order to the bitstream, and if the octree scan order is not applied, add information indicating the scan order of the prediction residuals to the bitstream.

The conversion unit 1303 may convert not only the prediction residual of color information, but also other attribute information possessed by voxels. For example, the conversion unit 1303 may convert and encode information such as reflectivity obtained when a point cloud is acquired using LiDAR or the like.

The conversion unit 1303 may skip processing if the space does not have attribute information such as color information. Furthermore, the three-dimensional data encoding device 1300 may add information (a flag) to the bitstream indicating whether or not the processing by the conversion unit 1303 should be skipped.

The quantization unit 1304 generates quantization coefficients by quantizing the frequency components of the prediction residual generated by the transform unit 1303 using the quantization control parameters. This reduces the amount of information. The generated quantization coefficients are output to the entropy coding unit 1313. The quantization unit 1304 may control the quantization control parameters on a world-by-world, space-by-space, or volume-by-volume basis. In this case, the three-dimensional data coding device 1300 adds the quantization control parameters to the respective header information, etc. The quantization unit 1304 may also control quantization by changing the weight for each frequency component of the prediction residual. For example, the quantization unit 1304 may finely quantize low-frequency components and coarsely quantize high-frequency components. In this case, the three-dimensional data coding device 1300 may add a parameter indicating the weight of each frequency component to the header.

The quantization unit 1304 may skip processing if the space does not have attribute information such as color information. The three-dimensional data encoding device 1300 may also add information (a flag) to the bitstream indicating whether or not to skip the processing of the quantization unit 1304.

The inverse quantization unit 1305 uses the quantization control parameter to inverse quantize the quantized coefficients generated by the quantization unit 1304 to generate inverse quantized coefficients of the prediction residual, and outputs the generated inverse quantized coefficients to the inverse transform unit 1306.

The inverse transform unit 1306 generates a post-inverse transform prediction residual by applying an inverse transform to the inverse quantized coefficients generated by the inverse quantization unit 1305. Because this post-inverse transform prediction residual is a prediction residual generated after quantization, it does not have to completely match the prediction residual output by the transform unit 1303.

The adder 1307 generates a reconstructed volume by adding the prediction residual after inverse transformation, generated by the inverse transformer 1306, to the prediction volume generated by intra-prediction or inter-prediction, described below, which was used to generate the prediction residual before quantization. This reconstructed volume is stored in the reference volume memory 1308 or the reference space memory 1310.

The intra prediction unit 1309 generates a predicted volume of the volume to be encoded using attribute information of adjacent volumes stored in the reference volume memory 1308. The attribute information includes color information or reflectance of voxels. The intra prediction unit 1309 generates a predicted value of the color information or reflectance of the volume to be encoded.

Figure 44 is a diagram illustrating the operation of the intra prediction unit 1309. For example, the intra prediction unit 1309 generates a predicted volume for the volume to be encoded (volume idx = 3) shown in Figure 44 from an adjacent volume (volume idx = 0). Here, volume idx is identifier information assigned to volumes within a space, and a different value is assigned to each volume. The order in which the volume idx is assigned may be the same as the encoding order, or may be different from the encoding order. For example, the intra prediction unit 1309 uses the average value of the color information of voxels included in the adjacent volume, volume idx = 0, as the predicted value of the color information of the volume to be encoded shown in Figure 44. In this case, a prediction residual is generated by subtracting the predicted value of the color information from the color information of each voxel included in the volume to be encoded. Processing from the conversion unit 1303 onwards is performed on this prediction residual. In this case, the 3D data encoding device 1300 also adds adjacent volume information and prediction mode information to the bitstream. Here, adjacent volume information is information indicating the adjacent volume used for prediction, such as the volume idx of the adjacent volume used for prediction. Furthermore, prediction mode information indicates the mode used to generate the predicted volume. Examples of modes include average mode, which generates a predicted value from the average value of voxels in the adjacent volume, or median mode, which generates a predicted value from the median value of voxels in the adjacent volume.

The intra prediction unit 1309 may generate a prediction volume from multiple adjacent volumes. For example, in the configuration shown in FIG. 44, the intra prediction unit 1309 generates prediction volume 0 from the volume with volume idx = 0, and generates prediction volume 1 from the volume with volume idx = 1. The intra prediction unit 1309 then generates the average of prediction volume 0 and prediction volume 1 as the final prediction volume. In this case, the three-dimensional data encoding device 1300 may add multiple volume idx of the multiple volumes used to generate the prediction volume to the bitstream.

Figure 45 is a diagram schematically illustrating inter prediction processing according to this embodiment. The inter prediction unit 1311 encodes (inter predicts) a space (SPC) at a certain time T_Cur using an encoded space at a different time T_LX. In this case, the inter prediction unit 1311 performs encoding processing by applying rotation and translation processing to the encoded space at the different time T_LX.

The three-dimensional data encoding device 1300 also adds RT information related to the rotation and translation processing applied to the space at a different time T_LX to the bitstream. The different time T_LX is, for example, time T_L0, which is before the certain time T_Cur. In this case, the three-dimensional data encoding device 1300 may add RT information RT_L0 related to the rotation and translation processing applied to the space at time T_L0 to the bitstream.

Alternatively, the different time T_LX may be, for example, time T_L1, which is later than the certain time T_Cur. In this case, the three-dimensional data encoding device 1300 may add RT information RT_L1 related to the rotation and translation processing applied to the space at time T_L1 to the bitstream.

Alternatively, the inter prediction unit 1311 performs encoding (bi-prediction) by referencing both spaces at different times T_L0 and T_L1. In this case, the 3D data encoding device 1300 may add both RT information RT_L0 and RT_L1 related to the rotation and translation applied to each space to the bitstream.

Note that, although T_L0 is defined above as a time before T_Cur and T_L1 as a time after T_Cur, this is not necessarily limited to this. For example, T_L0 and T_L1 may both be times before T_Cur. Or, T_L0 and T_L1 may both be times after T_Cur.

Furthermore, when the three-dimensional data encoding device 1300 performs encoding by referencing multiple spaces at different times, it may add RT information related to the rotation and translation applied to each space to the bitstream. For example, the three-dimensional data encoding device 1300 manages multiple encoded spaces to be referenced using two reference lists (an L0 list and an L1 list). If the first reference space in the L0 list is L0R0, the second reference space in the L0 list is L0R1, the first reference space in the L1 list is L1R0, and the second reference space in the L1 list is L1R1, the three-dimensional data encoding device 1300 adds RT information RT_L0R0 for L0R0, RT information RT_L0R1 for L0R1, RT information RT_L1R0 for L1R0, and RT information RT_L1R1 for L1R1 to the bitstream. For example, the three-dimensional data encoding device 1300 adds this RT information to the header of the bitstream, etc.

Furthermore, when the three-dimensional data encoding device 1300 performs encoding by referencing multiple reference spaces at different times, it determines whether to apply rotation and translation for each reference space. In this case, the three-dimensional data encoding device 1300 may add information (such as an RT application flag) indicating whether rotation and translation have been applied for each reference space to the header information of the bitstream. For example, the three-dimensional data encoding device 1300 calculates RT information and an ICP error value using the ICP (Interactive Closest Point) algorithm for each reference space referenced from the encoding target space. If the ICP error value is equal to or less than a predetermined value, the three-dimensional data encoding device 1300 determines that rotation and translation are not necessary and sets the RT application flag to OFF. On the other hand, if the ICP error value is greater than the predetermined value, the three-dimensional data encoding device 1300 sets the RT application flag to ON and adds RT information to the bitstream.

Figure 46 shows an example of syntax for adding RT information and an RT application flag to a header. The number of bits allocated to each syntax element may be determined within the range that the syntax element can take. For example, if the number of reference spaces included in reference list L0 is eight, 3 bits may be allocated to MaxRefSpc_l0. The number of bits allocated may be variable depending on the values that each syntax element can take, or may be fixed regardless of the values that can be taken. If the number of bits allocated is fixed, the three-dimensional data encoding device 1300 may add that fixed number of bits to other header information.

Here, shown in Figure 46, MaxRefSpc_l0 indicates the number of reference spaces included in the reference list L0. RT_flag_l0[i] is the RT application flag for reference space i in reference list L0. If RT_flag_l0[i] is 1, rotation and translation are applied to reference space i. If RT_flag_l0[i] is 0, rotation and translation are not applied to reference space i.

R_l0[i] and T_l0[i] are the RT information for reference space i in reference list L0. R_l0[i] is the rotation information for reference space i in reference list L0. The rotation information indicates the content of the applied rotation process, such as a rotation matrix or quaternion. T_l0[i] is the translation information for reference space i in reference list L0. The translation information indicates the content of the applied translation process, such as a translation vector.

MaxRefSpc_l1 indicates the number of reference spaces contained in the reference list L1. RT_flag_l1[i] is the RT application flag for reference space i in reference list L1. If RT_flag_l1[i] is 1, rotation and translation are applied to reference space i. If RT_flag_l1[i] is 0, rotation and translation are not applied to reference space i.

R_l1[i] and T_l1[i] are the RT information for reference space i in reference list L1. R_l1[i] is the rotation information for reference space i in reference list L1. The rotation information indicates the content of the applied rotation process, such as a rotation matrix or quaternion. T_l1[i] is the translation information for reference space i in reference list L1. The translation information indicates the content of the applied translation process, such as a translation vector.

The inter prediction unit 1311 generates a predicted volume for the volume to be encoded using information about the encoded reference space stored in the reference space memory 1310. As described above, before generating a predicted volume for the volume to be encoded, the inter prediction unit 1311 obtains RT information for the space to be encoded and the reference space using the ICP (Interactive Closest Point) algorithm to approximate the overall positional relationship between the space to be encoded and the reference space. The inter prediction unit 1311 then obtains reference space B by applying rotation and translation processing to the reference space using the obtained RT information. The inter prediction unit 1311 then generates a predicted volume for the volume to be encoded in the space to be encoded using information in reference space B. Here, the 3D data encoding device 1300 adds the RT information used to obtain reference space B to header information, etc., of the space to be encoded.

In this way, the inter prediction unit 1311 can improve the accuracy of the predicted volume by applying rotation and translation processing to the reference space to bring the overall positional relationship between the encoding target space and the reference space closer together, and then generating a predicted volume using information from the reference space. Furthermore, since prediction residuals can be suppressed, the amount of coding can be reduced. Note that while an example of performing ICP using the encoding target space and the reference space has been shown here, this is not necessarily limited to this. For example, in order to reduce the amount of processing, the inter prediction unit 1311 may obtain RT information by performing ICP using at least one of the encoding target space with a reduced number of voxels or point clouds, and the reference space with a reduced number of voxels or point clouds.

Furthermore, if the ICP error value obtained as a result of the ICP is smaller than a predetermined first threshold, that is, for example, if the positional relationship between the encoding target space and the reference space is close, the inter prediction unit 1311 determines that rotation and translation processing is not necessary, and rotation and translation do not need to be performed. In this case, the 3D data encoding device 1300 may reduce overhead by not adding RT information to the bitstream.

Furthermore, if the ICP error value is greater than a predetermined second threshold, the inter prediction unit 1311 may determine that there is a large change in shape between spaces and apply intra prediction to all volumes in the encoding target space. Hereinafter, a space to which intra prediction is applied is referred to as an intra space. Furthermore, the second threshold is a value greater than the first threshold. Furthermore, any method that can obtain RT information from two voxel sets or two point cloud sets is not limited to ICP, and may be applied.

Furthermore, if the three-dimensional data includes attribute information such as shape or color, the inter prediction unit 1311 searches, for example, for a volume in the reference space whose attribute information, such as shape or color, is closest to that of the volume to be encoded within the encoding space as a predicted volume for the volume to be encoded within the encoding space. This reference space is, for example, the reference space after the rotation and translation processing described above has been performed. The inter prediction unit 1311 generates a predicted volume from the volume (reference volume) obtained by the search. Figure 47 is a diagram for explaining the operation of generating a predicted volume. When encoding the volume to be encoded (volume idx = 0) shown in Figure 47 using inter prediction, the inter prediction unit 1311 sequentially scans the reference volumes within the reference space and searches for the volume with the smallest prediction residual, which is the difference between the volume to be encoded and the reference volume. The inter prediction unit 1311 selects the volume with the smallest prediction residual as the predicted volume. The prediction residual between the volume to be encoded and the predicted volume is encoded by processing from the conversion unit 1303 onwards. Here, the prediction residual is the difference between the attribute information of the volume to be encoded and the attribute information of the prediction volume. In addition, the three-dimensional data encoding device 1300 adds the volume idx of the reference volume in the reference space referenced as the prediction volume to the header of the bitstream, etc.

In the example shown in Figure 47, the reference volume of volume idx = 4 in reference space L0R0 is selected as the prediction volume for the volume to be encoded. Then, the prediction residual between the volume to be encoded and the reference volume, and the reference volume idx = 4, are encoded and added to the bitstream.

Note that while an example of generating a predicted volume for attribute information has been described here, similar processing may also be performed on a predicted volume for location information.

The prediction control unit 1312 controls whether to use intra prediction or inter prediction to encode the volume to be encoded. Here, modes including intra prediction and inter prediction are referred to as prediction modes. For example, the prediction control unit 1312 calculates evaluation values for the prediction residual when the volume to be encoded is predicted using intra prediction and the prediction residual when the volume to be encoded is predicted using inter prediction, and selects the prediction mode with the smaller evaluation value. Note that the prediction control unit 1312 may calculate the actual code amount by applying orthogonal transform, quantization, and entropy coding to the prediction residual of intra prediction and the prediction residual of inter prediction, respectively, and select the prediction mode using the calculated code amount as the evaluation value. Additionally, overhead information other than the prediction residual (such as reference volume idx information) may be added to the evaluation value. Furthermore, the prediction control unit 1312 may always select intra prediction if it has been determined in advance that the space to be encoded will be encoded using intra space.

The entropy coding unit 1313 generates a coded signal (coded bitstream) by variable-length coding the quantized coefficients input from the quantization unit 1304. Specifically, the entropy coding unit 1313, for example, binarizes the quantized coefficients and arithmetically codes the resulting binary signal.

Next, we will explain a three-dimensional data decoding device that decodes the coded signal generated by the three-dimensional data coding device 1300. Figure 48 is a block diagram of a three-dimensional data decoding device 1400 according to this embodiment. This three-dimensional data decoding device 1400 includes an entropy decoding unit 1401, an inverse quantization unit 1402, an inverse transform unit 1403, an addition unit 1404, a reference volume memory 1405, an intra prediction unit 1406, a reference space memory 1407, an inter prediction unit 1408, and a prediction control unit 1409.

The entropy decoding unit 1401 performs variable-length decoding on the coded signal (coded bitstream). For example, the entropy decoding unit 1401 arithmetically decodes the coded signal to generate a binary signal, and generates quantization coefficients from the generated binary signal.

The inverse quantization unit 1402 generates inverse quantization coefficients by inverse quantizing the quantization coefficients input from the entropy decoding unit 1401 using a quantization parameter added to the bitstream, etc.

The inverse transform unit 1403 generates prediction residuals by inversely transforming the inverse quantized coefficients input from the inverse quantization unit 1402. For example, the inverse transform unit 1403 generates prediction residuals by performing an inverse orthogonal transform on the inverse quantized coefficients based on information added to the bitstream.

The adder 1404 generates a reconstructed volume by adding the prediction residual generated by the inverse transformer 1403 to a prediction volume generated by intra-prediction or inter-prediction. This reconstructed volume is output as decoded 3D data and stored in the reference volume memory 1405 or the reference space memory 1407.

The intra prediction unit 1406 generates a predicted volume by intra prediction using the reference volume in the reference volume memory 1405 and information added to the bitstream. Specifically, the intra prediction unit 1406 acquires adjacent volume information (e.g., volume idx) and prediction mode information added to the bitstream, and generates a predicted volume using the adjacent volume indicated in the adjacent volume information in the mode indicated by the prediction mode information. Note that the details of this processing are similar to the processing by the intra prediction unit 1309 described above, except that information added to the bitstream is used.

The inter prediction unit 1408 generates a predicted volume by inter prediction using the reference space in the reference space memory 1407 and information added to the bitstream. Specifically, the inter prediction unit 1408 applies rotation and translation processing to the reference space using the RT information for each reference space added to the bitstream, and generates a predicted volume using the reference space after application. Note that if an RT application flag for each reference space is present in the bitstream, the inter prediction unit 1408 applies rotation and translation processing to the reference space in accordance with the RT application flag. Note that the details of these processes are the same as those performed by the inter prediction unit 1311 described above, except that information added to the bitstream is used.

The prediction control unit 1409 controls whether the volume to be decoded is to be decoded using intra prediction or inter prediction. For example, the prediction control unit 1409 selects intra prediction or inter prediction according to information added to the bitstream indicating the prediction mode to be used. Note that the prediction control unit 1409 may always select intra prediction if it has been determined in advance that the space to be decoded will be decoded using intra space.

Modifications of this embodiment are described below. In this embodiment, an example in which rotation and translation are applied on a space-by-space basis has been described. However, rotation and translation may also be applied on a smaller scale. For example, the three-dimensional data encoding device 1300 may divide a space into subspaces and apply rotation and translation on a subspace-by-subspace basis. In this case, the three-dimensional data encoding device 1300 generates RT information for each subspace and adds the generated RT information to a bitstream header or the like. The three-dimensional data encoding device 1300 may also apply rotation and translation on a volume-by-volume basis, which is the encoding unit. In this case, the three-dimensional data encoding device 1300 generates RT information on an encoding volume-by-volume basis and adds the generated RT information to a bitstream header or the like. Furthermore, the above may be combined. That is, the three-dimensional data encoding device 1300 may apply rotation and translation on a larger scale, and then apply rotation and translation on a smaller scale. For example, the three-dimensional data encoding device 1300 may apply rotation and translation on a space-by-space basis, and then apply different rotations and translations to each of the multiple volumes included in the resulting space.

Furthermore, although an example of applying rotation and translation to the reference space has been described in this embodiment, this is not necessarily limited to this. For example, the three-dimensional data encoding device 1300 may change the size of the three-dimensional data by applying a scale process. Furthermore, the three-dimensional data encoding device 1300 may apply any one or two of rotation, translation, and scale. Furthermore, when applying processing in different units in multiple stages as described above, different types of processing may be applied to each unit. For example, rotation and translation may be applied in space units, and translation may be applied in volume units.

Note that these modifications can also be applied to the three-dimensional data decoding device 1400.

As described above, the 3D data encoding device 1300 according to this embodiment performs the following processing. Figure 48 is a flowchart of the inter-prediction processing performed by the 3D data encoding device 1300.

First, the three-dimensional data encoding device 1300 generates predicted position information (e.g., predicted volume) using position information of three-dimensional points included in reference three-dimensional data (e.g., reference space) at a time different from that of the target three-dimensional data (e.g., encoding target space) (S1301). Specifically, the three-dimensional data encoding device 1300 generates predicted position information by applying rotation and translation processing to the position information of three-dimensional points included in the reference three-dimensional data.

The three-dimensional data encoding device 1300 may perform the rotation and translation processing in a first unit (e.g., space) and generate the predicted position information in a second unit (e.g., volume) that is finer than the first unit. For example, the three-dimensional data encoding device 1300 searches for a volume among multiple volumes contained in the reference space after the rotation and translation processing that has the smallest difference in position information from the encoding target volume contained in the encoding target space, and uses the obtained volume as the predicted volume. The three-dimensional data encoding device 1300 may perform the rotation and translation processing and generate the predicted position information in the same unit.

The three-dimensional data encoding device 1300 may also generate predicted position information by applying a first rotation and translation process to the position information of three-dimensional points included in the reference three-dimensional data in a first unit (e.g., space), and then applying a second rotation and translation process to the position information of the three-dimensional points obtained by the first rotation and translation process in a second unit (e.g., volume) that is finer than the first unit.

Here, the position information and predicted position information of the 3D points are represented in an octree structure, as shown in FIG. 41, for example. For example, the position information and predicted position information of the 3D points are represented in a scan order that prioritizes width over depth in the octree structure. Alternatively, the position information and predicted position information of the 3D points are represented in a scan order that prioritizes depth over width in the octree structure.

Furthermore, as shown in FIG. 46, the three-dimensional data encoding device 1300 encodes an RT application flag indicating whether or not rotation and translation processing is to be applied to the position information of three-dimensional points included in the reference three-dimensional data. That is, the three-dimensional data encoding device 1300 generates an encoding signal (encoded bitstream) including the RT application flag. The three-dimensional data encoding device 1300 also encodes RT information indicating the details of the rotation and translation processing. That is, the three-dimensional data encoding device 1300 generates an encoding signal (encoded bitstream) including the RT information. Note that the three-dimensional data encoding device 1300 encodes the RT information when the RT application flag indicates that rotation and translation processing is to be applied, and does not have to encode the RT information when the RT application flag indicates that rotation and translation processing is not to be applied.

The three-dimensional data also includes, for example, position information of three-dimensional points and attribute information (such as color information) of each three-dimensional point. The three-dimensional data encoding device 1300 generates predicted attribute information using the attribute information of the three-dimensional points included in the reference three-dimensional data (S1302).

Next, the three-dimensional data encoding device 1300 encodes the position information of the three-dimensional points included in the target three-dimensional data using the predicted position information. For example, the three-dimensional data encoding device 1300 calculates differential position information, which is the difference between the position information of the three-dimensional points included in the target three-dimensional data and the predicted position information, as shown in FIG. 38 (S1303).

The three-dimensional data encoding device 1300 also encodes attribute information of three-dimensional points included in the target three-dimensional data using the predicted attribute information. For example, the three-dimensional data encoding device 1300 calculates differential attribute information, which is the difference between the attribute information of three-dimensional points included in the target three-dimensional data and the predicted attribute information (S1304). Next, the three-dimensional data encoding device 1300 converts and quantizes the calculated differential attribute information (S1305).

Finally, the three-dimensional data encoding device 1300 encodes (e.g., entropy encodes) the differential position information and the quantized differential attribute information (S1306). In other words, the three-dimensional data encoding device 1300 generates an encoded signal (encoded bitstream) including the differential position information and the differential attribute information.

Note that if the three-dimensional data does not include attribute information, the three-dimensional data encoding device 1300 does not need to perform steps S1302, S1304, and S1305. Furthermore, the three-dimensional data encoding device 1300 may perform only one of encoding the position information of the three-dimensional points and encoding the attribute information of the three-dimensional points.

Furthermore, the processing order shown in FIG. 49 is an example and is not limited to this. For example, the processing for location information (S1301, S1303) and the processing for attribute information (S1302, S1304, S1305) are independent of each other, and therefore may be performed in any order, or some of them may be processed in parallel.

As described above, the three-dimensional data encoding device 1300 in this embodiment generates predicted position information using position information of three-dimensional points included in reference three-dimensional data at a different time than the target three-dimensional data, and encodes differential position information, which is the difference between the position information of three-dimensional points included in the target three-dimensional data and the predicted position information. This reduces the amount of data in the encoded signal, thereby improving encoding efficiency.

In addition, in this embodiment, the three-dimensional data encoding device 1300 generates predicted attribute information using attribute information of three-dimensional points included in the reference three-dimensional data, and encodes differential attribute information, which is the difference between the attribute information of three-dimensional points included in the target three-dimensional data and the predicted attribute information. This reduces the amount of data in the encoded signal, thereby improving encoding efficiency.

For example, the three-dimensional data encoding device 1300 includes a processor and memory, and the processor uses the memory to perform the above processing.

Figure 48 is a flowchart of inter-prediction processing by the 3D data decoding device 1400.

First, the three-dimensional data decoding device 1400 decodes (e.g., entropy decodes) the differential position information and differential attribute information from the encoded signal (encoded bitstream) (S1401).

The three-dimensional data decoding device 1400 also decodes from the encoded signal an RT application flag that indicates whether rotation and translation processing is to be applied to the position information of the three-dimensional point included in the reference three-dimensional data. The three-dimensional data decoding device 1400 also decodes RT information that indicates the details of the rotation and translation processing. Note that the three-dimensional data decoding device 1400 may decode the RT information when the RT application flag indicates that rotation and translation processing is to be applied, and may not need to decode the RT information when the RT application flag indicates that rotation and translation processing is not to be applied.

Next, the 3D data decoding device 1400 performs inverse quantization and inverse transformation on the decoded differential attribute information (S1402).

Next, the three-dimensional data decoding device 1400 generates predicted position information (e.g., predicted volume) using position information of three-dimensional points included in reference three-dimensional data (e.g., reference space) at a time different from that of the target three-dimensional data (e.g., decoding target space) (S1403). Specifically, the three-dimensional data decoding device 1400 generates predicted position information by applying rotation and translation processing to the position information of three-dimensional points included in the reference three-dimensional data.

More specifically, when the RT application flag indicates that rotation and translation processing should be applied, the 3D data decoding device 1400 applies rotation and translation processing to the position information of the 3D points included in the reference 3D data indicated by the RT information. On the other hand, when the RT application flag indicates that rotation and translation processing should not be applied, the 3D data decoding device 1400 does not apply rotation and translation processing to the position information of the 3D points included in the reference 3D data.

The three-dimensional data decoding device 1400 may perform the rotation and translation processing in a first unit (e.g., space) and generate the predicted position information in a second unit (e.g., volume) that is finer than the first unit. The three-dimensional data decoding device 1400 may perform the rotation and translation processing and the generation of the predicted position information in the same unit.

The three-dimensional data decoding device 1400 may also generate predicted position information by applying a first rotation and translation process to the position information of three-dimensional points included in the reference three-dimensional data in a first unit (e.g., space), and then applying a second rotation and translation process to the position information of the three-dimensional points obtained by the first rotation and translation process in a second unit (e.g., volume) that is finer than the first unit.

Here, the position information and predicted position information of the 3D points are represented in an octree structure, as shown in FIG. 41, for example. For example, the position information and predicted position information of the 3D points are represented in a scan order that prioritizes width over depth in the octree structure. Alternatively, the position information and predicted position information of the 3D points are represented in a scan order that prioritizes depth over width in the octree structure.

The three-dimensional data decoding device 1400 generates predicted attribute information using attribute information of three-dimensional points included in the reference three-dimensional data (S1404).

Next, the three-dimensional data decoding device 1400 restores the position information of the three-dimensional points included in the target three-dimensional data by decoding the encoded position information included in the encoded signal using the predicted position information. Here, the encoded position information is, for example, differential position information, and the three-dimensional data decoding device 1400 restores the position information of the three-dimensional points included in the target three-dimensional data by adding the differential position information and the predicted position information (S1405).

The three-dimensional data decoding device 1400 also restores the attribute information of the three-dimensional points included in the target three-dimensional data by decoding the encoded attribute information included in the encoded signal using the predicted attribute information. Here, the encoded attribute information is, for example, differential attribute information, and the three-dimensional data decoding device 1400 restores the attribute information of the three-dimensional points included in the target three-dimensional data by adding the differential attribute information and the predicted attribute information (S1406).

Note that if the three-dimensional data does not include attribute information, the three-dimensional data decoding device 1400 does not need to perform steps S1402, S1404, and S1406. Furthermore, the three-dimensional data decoding device 1400 may perform only one of decoding the position information of the three-dimensional points and decoding the attribute information of the three-dimensional points.

Furthermore, the processing order shown in FIG. 50 is an example and is not limited to this. For example, the processing for location information (S1403, S1405) and the processing for attribute information (S1402, S1404, S1406) are independent of each other, and therefore may be performed in any order, or some of them may be processed in parallel.

Eighth Embodiment
In this embodiment, a method for controlling reference when encoding an occupancy code will be described. Note that, although the following mainly describes the operation of a three-dimensional data encoding device, a similar process may also be performed in a three-dimensional data decoding device.

Figures 51 and 52 are diagrams showing reference relationships according to this embodiment. Figure 51 shows the reference relationships in an octree structure, and Figure 52 shows the reference relationships in the spatial domain.

In this embodiment, when encoding the encoding information of a node to be encoded (hereinafter referred to as the target node), the three-dimensional data encoding device references the encoding information of each node in the parent node to which the target node belongs. However, it does not reference the encoding information of each node in other nodes on the same layer as the parent node (hereinafter referred to as parent adjacent nodes). In other words, the three-dimensional data encoding device disables or prohibits reference to parent adjacent nodes.

The three-dimensional data encoding device may also allow reference to the encoding information in the parent node to which the parent node belongs (hereinafter referred to as the grandparent node). In other words, the three-dimensional data encoding device may encode the encoding information of the target node by referencing the encoding information of the parent node to which the target node belongs and the grandparent node.

Here, the encoding information is, for example, an occupancy code. When encoding the occupancy code of a target node, the three-dimensional data encoding device references information indicating whether each node in the parent node to which the target node belongs contains a point group (hereinafter referred to as occupancy information). In other words, when encoding the occupancy code of a target node, the three-dimensional data encoding device references the occupancy code of the parent node. On the other hand, the three-dimensional data encoding device does not reference the occupancy information of each node in the parent adjacent node. In other words, the three-dimensional data encoding device does not reference the occupancy code of the parent adjacent node. The three-dimensional data encoding device may also reference the occupancy information of each node in the grandparent node. In other words, the three-dimensional data encoding device may reference the occupancy information of the parent node and the parent adjacent node.

For example, when encoding the occupancy code of a target node, the three-dimensional data encoding device switches the encoding table used to entropy encode the occupancy code of the target node using the occupancy code of the parent node or grandparent node to which the target node belongs. Details of this will be described later. In this case, the three-dimensional data encoding device does not need to refer to the occupancy code of the parent adjacent node. This allows the three-dimensional data encoding device to appropriately switch encoding tables according to the occupancy code information of the parent node or grandparent node when encoding the occupancy code of the target node, thereby improving encoding efficiency. Furthermore, by not referencing the parent adjacent node, the three-dimensional data encoding device can reduce the process of checking the information of the parent adjacent node and the memory capacity required to store it. Furthermore, it becomes easier to scan and encode the occupancy code of each node in the occupancy tree in depth-first order.

An example of coding table switching using the occupancy code of a parent node is described below. Figure 53 is a diagram showing an example of a target node and adjacent reference nodes. Figure 54 is a diagram showing the relationship between a parent node and nodes. Figure 55 is a diagram showing an example of an occupancy code of a parent node. Here, an adjacent reference node is a node that is spatially adjacent to the target node and is referenced when encoding the target node. In the example shown in Figure 53, the adjacent nodes are nodes that belong to the same layer as the target node. Furthermore, node X, which is adjacent to the target block in the x direction, node Y, which is adjacent to the target block in the y direction, and node Z, which is adjacent to the target block in the z direction, are used as reference adjacent nodes. In other words, one adjacent block in each of the x, y, and z directions is set as the reference adjacent block.

Note that the node numbers shown in Figure 54 are just an example, and the relationship between node numbers and node positions is not limited to this. Also, in Figure 55, node 0 is assigned to the lower bits and node 7 is assigned to the upper bits, but the assignment may be done in the opposite order. Also, each node may be assigned to any bit.

The three-dimensional data encoding device determines the encoding table for entropy encoding the occupancy code of the target node, for example, using the following formula:

CodingTable=(FlagX<<2)+(FlagY<<1)+(FlagZ)

Here, CodingTable indicates the coding table for the occupancy code of the target node and indicates one of the values 0 to 7. FlagX is the occupancy information of adjacent node X, indicating 1 if adjacent node X includes (occupies) a point cloud, and 0 if not. FlagY is the occupancy information of adjacent node Y, indicating 1 if adjacent node Y includes (occupies) a point cloud, and 0 if not. FlagZ is the occupancy information of adjacent node Z, indicating 1 if adjacent node Z includes (occupies) a point cloud, and 0 if not.

Incidentally, since information indicating whether an adjacent node is occupied is included in the occupancy code of the parent node, the three-dimensional data encoding device may select an encoding table using the value indicated in the occupancy code of the parent node.

As a result, the three-dimensional data encoding device can improve encoding efficiency by switching encoding tables using information indicating whether the node adjacent to the target node contains a point cloud.

Furthermore, the three-dimensional data encoding device may switch the adjacent reference node depending on the spatial position of the target node within the parent node, as shown in FIG. 53. In other words, the three-dimensional data encoding device may switch the adjacent node to reference from among multiple adjacent nodes depending on the spatial position of the target node within the parent node.

Next, an example configuration of a three-dimensional data encoding device and a three-dimensional data decoding device will be described. Figure 56 is a block diagram of a three-dimensional data encoding device 2100 according to this embodiment. The three-dimensional data encoding device 2100 shown in Figure 56 includes an octree generation unit 2101, a geometric information calculation unit 2102, a coding table selection unit 2103, and an entropy coding unit 2104.

The octree generation unit 2101 generates, for example, an octree from the input three-dimensional points (point cloud) and generates an occupancy code for each node included in the octree. The geometric information calculation unit 2102 obtains occupancy information indicating whether the adjacent reference node of the target node is occupied. For example, the geometric information calculation unit 2102 obtains the occupancy information of the adjacent reference node from the occupancy code of the parent node to which the target node belongs. Note that the geometric information calculation unit 2102 may switch the adjacent reference node depending on the position of the target node within the parent node, as shown in FIG. 53. Furthermore, the geometric information calculation unit 2102 does not refer to the occupancy information of each node within the parent adjacent node.

The coding table selection unit 2103 selects a coding table to be used for entropy coding of the occupancy code of the target node using the occupancy information of the adjacent reference node calculated by the geometric information calculation unit 2102. The entropy coding unit 2104 generates a bitstream by entropy coding the occupancy code using the selected coding table. Note that the entropy coding unit 2104 may add information indicating the selected coding table to the bitstream.

Figure 57 is a block diagram of a three-dimensional data decoding device 2110 according to this embodiment. The three-dimensional data decoding device 2110 shown in Figure 57 includes an octree generation unit 2111, a geometric information calculation unit 2112, a coding table selection unit 2113, and an entropy decoding unit 2114.

The octree generator 2111 generates an octree for a space (node) using header information from the bitstream, etc. For example, the octree generator 2111 generates a large space (root node) using the dimensions of the space in the x-, y-, and z-axis directions added to the header information, and then divides this space into two in the x-, y-, and z-axis directions to generate eight small spaces A (nodes A0 to A7), thereby generating an octree. Nodes A0 to A7 are set in order as target nodes.

The geometric information calculation unit 2112 obtains occupancy information indicating whether the adjacent reference node of the target node is occupied. For example, the geometric information calculation unit 2112 obtains the occupancy information of the adjacent reference node from the occupancy code of the parent node to which the target node belongs. Note that the geometric information calculation unit 2112 may switch the adjacent reference node depending on the position of the target node within the parent node, as shown in FIG. 53. Furthermore, the geometric information calculation unit 2112 does not refer to the occupancy information of each node within the parent adjacent node.

The coding table selection unit 2113 selects a coding table (decoding table) to be used for entropy decoding of the occupancy code of the target node using the occupancy information of the adjacent reference node calculated by the geometric information calculation unit 2112. The entropy decoding unit 2114 generates a three-dimensional point by entropy decoding the occupancy code using the selected coding table. Note that the coding table selection unit 2113 may decode and obtain information about the selected coding table added to the bitstream, and the entropy decoding unit 2114 may use the coding table indicated by the obtained information.

Each bit of the occupancy code (8 bits) contained in the bitstream indicates whether or not a point group is contained in each of the eight small spaces A (nodes A0 to A7). Furthermore, the three-dimensional data decoding device divides small space node A0 into eight small spaces B (nodes B0 to B7) to generate an occupancy tree, and decodes the occupancy code to obtain information indicating whether or not a point group is contained in each node of small space B. In this way, the three-dimensional data decoding device decodes the occupancy code of each node while generating an occupancy tree from the large space to the small spaces.

The processing flow by the three-dimensional data encoding device and three-dimensional data decoding device is explained below. Figure 58 is a flowchart of the three-dimensional data encoding process in the three-dimensional data encoding device. First, the three-dimensional data encoding device determines (defines) a space (target node) that contains part or all of the input three-dimensional point cloud (S2101). Next, the three-dimensional data encoding device divides the target node into eight parts to generate eight small spaces (nodes) (S2102). Next, the three-dimensional data encoding device generates an occupancy code for the target node depending on whether or not each node contains a point cloud (S2103).

Next, the three-dimensional data encoding device calculates (obtains) the occupancy information of the adjacent reference node of the target node from the occupancy code of the parent node of the target node (S2104). Next, the three-dimensional data encoding device selects a coding table to be used for entropy encoding based on the occupancy information of the determined adjacent reference node of the target node (S2105). Next, the three-dimensional data encoding device entropy encodes the occupancy code of the target node using the selected coding table (S2106).

Furthermore, the three-dimensional data encoding device repeats the process of dividing each node into eight parts and encoding the occupancy code of each node until the node can no longer be divided (S2107). In other words, the processes from steps S2102 to S2106 are repeated recursively.

Figure 59 is a flowchart of a three-dimensional data decoding method in a three-dimensional data decoding device. First, the three-dimensional data decoding device determines (defines) the space to be decoded (target node) using header information in the bitstream (S2111). Next, the three-dimensional data decoding device divides the target node into eight parts to generate eight small spaces (nodes) (S2112). Next, the three-dimensional data decoding device calculates (obtains) the occupancy information of the adjacent reference nodes of the target node from the occupancy code of the parent node of the target node (S2113).

Next, the three-dimensional data decoding device selects a coding table to use for entropy decoding based on the occupancy information of the adjacent reference node (S2114). Next, the three-dimensional data decoding device entropy decodes the occupancy code of the target node using the selected coding table (S2115).

Furthermore, the three-dimensional data decoding device repeats the process of dividing each node into eight parts and decoding the occupancy code of each node until the node can no longer be divided (S2116). In other words, the processes from steps S2112 to S2115 are repeated recursively.

Next, an example of switching of coding tables will be described. Figure 60 is a diagram showing an example of switching of coding tables. For example, as in coding table 0 shown in Figure 60, the same context model may be applied to multiple occupancy codes. Alternatively, a different context model may be assigned to each occupancy code. This allows a context model to be assigned according to the occurrence probability of the occupancy code, thereby improving coding efficiency. Alternatively, a context model that updates the probability table according to the occurrence frequency of the occupancy code may be used. Alternatively, a context model with a fixed probability table may be used.

Below, we will explain variant 1 of this embodiment. Figure 61 is a diagram showing the reference relationship in this variant. In the above embodiment, the three-dimensional data encoding device does not refer to the occupancy code of the parent adjacent node, but it may also switch whether or not to refer to the occupancy coding of the parent adjacent node depending on specific conditions.

For example, when a three-dimensional data encoding device encodes an occupancy code for a target node by scanning the occupancy information of the node in its parent adjacent node in a breadth-first manner. On the other hand, when a three-dimensional data encoding device encodes an occupancy code for a target node by scanning the occupancy information of the node in its parent adjacent node in a depth-first manner, the device prohibits referencing the occupancy information of the node in its parent adjacent node. By appropriately switching the nodes that can be referenced in this way according to the scan order (encoding order) of the nodes in the octree, it is possible to improve encoding efficiency and reduce processing load.

The three-dimensional data encoding device may add information to the bitstream header, such as whether the octree was encoded in a breadth-first or depth-first manner. Figure 62 shows an example of the syntax of the header information in this case. octree_scan_order shown in Figure 62 is encoding order information (encoding order flag) that indicates the encoding order of the octree. For example, octree_scan_order = 0 indicates breadth-first, and octree_scan_order = 1 indicates depth-first. This allows the three-dimensional data decoding device to know whether the bitstream was encoded in a breadth-first or depth-first manner by referencing octree_scan_order, thereby enabling it to decode the bitstream appropriately.

The three-dimensional data encoding device may also add information indicating whether or not referencing parent adjacent nodes is prohibited to the header information of the bitstream. Figure 63 is a diagram showing an example of the syntax of the header information in this case. limit_refer_flag is prohibition switching information (prohibition switching flag) that indicates whether or not referencing parent adjacent nodes is prohibited. For example, if limit_refer_flag is 1, it indicates that referencing parent adjacent nodes is prohibited, and if it is 0, it indicates that there is no reference restriction (reference to parent adjacent nodes is permitted).

In other words, the three-dimensional data encoding device determines whether to prohibit referencing parent adjacent nodes, and switches between prohibiting and allowing referencing parent adjacent nodes based on the result of this decision. The three-dimensional data encoding device also generates a bitstream that includes prohibition switching information that indicates whether to prohibit referencing parent adjacent nodes based on the result of this decision.

The three-dimensional data decoding device also acquires prohibition switching information from the bitstream that indicates whether or not referencing parent adjacent nodes is prohibited, and switches between prohibiting and allowing referencing parent adjacent nodes based on the prohibition switching information.

This allows the three-dimensional data encoding device to control references to parent adjacent nodes and generate a bitstream. Furthermore, the three-dimensional data decoding device can obtain information from the bitstream header indicating whether references to parent adjacent nodes are prohibited.

Furthermore, in this embodiment, the encoding process for occupancy codes has been described as an example of an encoding process that prohibits reference to parent adjacent nodes, but this is not necessarily limited to this. For example, a similar technique can be applied when encoding other information about octet nodes. For example, the technique of this embodiment may be applied when encoding other attribute information such as color, normal vector, or reflectance attached to a node. Furthermore, a similar technique can be applied when encoding a coding table or predicted value.

Next, we will explain Variation 2 of this embodiment. In the above explanation, we have shown an example in which three reference adjacent nodes are used, as shown in Figure 53, but four or more reference adjacent nodes may also be used. Figure 64 is a diagram showing examples of a target node and reference adjacent nodes.

For example, the three-dimensional data encoding device calculates the encoding table for entropy encoding the occupancy code of the target node shown in Figure 64, for example, using the following formula:

CodingTable=(FlagX0<<3)+(FlagX1<<2)+(FlagY<<1)+(FlagZ)

Here, CodingTable indicates the coding table for the occupancy code of the target node and indicates one of the values 0 to 15. FlagXN is the occupancy information of adjacent node XN (N = 0..1), indicating 1 if adjacent node XN includes (occupies) a point cloud, and 0 if not. FlagY is the occupancy information of adjacent node Y, indicating 1 if adjacent node Y includes (occupies) a point cloud, and 0 if not. FlagZ is the occupancy information of adjacent node Z, indicating 1 if adjacent node Z includes (occupies) a point cloud, and 0 if not.

In this case, if an adjacent node, for example, adjacent node X0 in Figure 64, cannot be referenced (reference is prohibited), the three-dimensional data encoding device may use a fixed value such as 1 (occupied) or 0 (unoccupied) as an alternative value.

Figure 65 is a diagram showing an example of a target node and adjacent nodes. As shown in Figure 65, if an adjacent node cannot be referenced (reference prohibited), the occupancy information of the adjacent node may be calculated by referencing the occupancy code of the target node's grandparent node. For example, the three-dimensional data encoding device may calculate FlagX0 in the above equation using the occupancy information of adjacent node G0 instead of adjacent node X0 shown in Figure 65, and determine the value of the encoding table using the calculated FlagX0. Note that adjacent node G0 shown in Figure 65 is an adjacent node whose occupancy status can be determined using the occupancy code of its grandparent node. Adjacent node X1 is an adjacent node whose occupancy status can be determined using the occupancy code of its parent node.

Below, we will explain Variation 3 of this embodiment. Figures 66 and 67 are diagrams showing the reference relationships related to this variation. Figure 66 is a diagram showing the reference relationships in an octree structure, and Figure 67 is a diagram showing the reference relationships in the spatial domain.

In this modification, when encoding the encoding information of a node to be encoded (hereinafter referred to as target node 2), the three-dimensional data encoding device references the encoding information of each node in the parent node to which target node 2 belongs. In other words, the three-dimensional data encoding device allows reference to information (e.g., occupancy information) of a child node of a first node, among multiple adjacent nodes, whose parent node is the same as the target node. For example, when encoding the occupancy code of target node 2 shown in FIG. 66, the three-dimensional data encoding device references a node existing in the parent node to which target node 2 belongs, such as the occupancy code of the target node shown in FIG. 66. The occupancy code of the target node shown in FIG. 66 indicates, for example, whether each node in the target node adjacent to target node 2 is occupied, as shown in FIG. 67. Therefore, the three-dimensional data encoding device can switch the encoding table for the occupancy code of target node 2 according to the more detailed shape of the target node, thereby improving encoding efficiency.

The three-dimensional data encoding device may calculate the encoding table for entropy encoding the occupancy code of the target node 2, for example, using the following formula:

CodingTable=(FlagX1<<5)+(FlagX2<<4)+(FlagX3<<3)+(FlagX4<<2)+(FlagY<<1)+(FlagZ)

Here, CodingTable indicates the coding table for the occupancy code of target node 2 and indicates one of the values 0 to 63. FlagXN is the occupancy information of adjacent node XN (N = 1..4), indicating 1 if adjacent node XN includes (occupies) a point cloud, and 0 if not. FlagY is the occupancy information of adjacent node Y, indicating 1 if adjacent node Y includes (occupies) a point cloud, and 0 if not. FlagZ is the occupancy information of adjacent node Y, indicating 1 if adjacent node Z includes (occupies) a point cloud, and 0 if not.

The three-dimensional data encoding device may change the method of calculating the encoding table depending on the node position of the target node 2 within the parent node.

Furthermore, if referencing parent adjacent nodes is not prohibited, the three-dimensional data encoding device may refer to the encoding information of each node within the parent adjacent node. For example, if referencing parent adjacent nodes is not prohibited, referencing information (e.g., occupancy information) of a child node of a third node whose parent node is different from the target node is permitted. For example, in the example shown in Figure 65, the three-dimensional data encoding device refers to the occupancy code of adjacent node X0, whose parent node is different from the target node, to obtain occupancy information of the child node of adjacent node X0. Based on the obtained occupancy information of the child node of adjacent node X0, the three-dimensional data encoding device switches the encoding table used for entropy encoding of the occupancy code of the target node.

As described above, the three-dimensional data encoding device according to this embodiment encodes information (e.g., occupancy code) of a target node included in an N-ary tree structure (N is an integer equal to or greater than 2) of multiple three-dimensional points included in three-dimensional data. As shown in Figures 51 and 52, during the encoding process, the three-dimensional data encoding device allows reference to information (e.g., occupancy information) of a first node, of multiple adjacent nodes spatially adjacent to the target node, whose parent node is the same as the target node, and prohibits reference to information (e.g., occupancy information) of a second node, whose parent node is different from the target node. In other words, during the encoding process, the three-dimensional data encoding device allows reference to information (e.g., occupancy code) of the parent node, and prohibits reference to information (e.g., occupancy code) of other nodes (parent adjacent nodes) on the same layer as the parent node.

As a result, the three-dimensional data encoding device can improve encoding efficiency by referencing information on a first node, of multiple adjacent nodes spatially adjacent to the target node, whose parent node is the same as the target node. Furthermore, the three-dimensional data encoding device can reduce the amount of processing by not referencing information on a second node, of multiple adjacent nodes, whose parent node is different from the target node. In this way, the three-dimensional data encoding device can improve encoding efficiency and reduce the amount of processing.

For example, the three-dimensional data encoding device further determines whether to prohibit reference to information on the second node, and in the encoding, switches between prohibiting and allowing reference to information on the second node based on the result of the above decision. The three-dimensional data encoding device further generates a bitstream that includes prohibition switching information (e.g., limit_refer_flag shown in Figure 63) that is the result of the above decision and indicates whether to prohibit reference to information on the second node.

This allows the three-dimensional data encoding device to switch whether or not to prohibit reference to information from the second node. Furthermore, the three-dimensional data decoding device can perform appropriate decoding processing using the prohibition switching information.

For example, the information on the target node is information (e.g., an occupancy code) indicating whether or not a three-dimensional point exists in each of the child nodes belonging to the target node, the information on the first node is information indicating whether or not a three-dimensional point exists in the first node (occupancy information of the first node), and the information on the second node is information indicating whether or not a three-dimensional point exists in the second node (occupancy information of the second node).

For example, in the above encoding, the three-dimensional data encoding device selects an encoding table based on whether or not a three-dimensional point exists at the first node, and uses the selected encoding table to entropy encode the information of the target node (e.g., an occupancy code).

For example, in the above encoding, the three-dimensional data encoding device allows reference to information (e.g., occupancy information) of the child node of the first node among multiple adjacent nodes, as shown in Figures 66 and 67.

This allows the three-dimensional data encoding device to refer to more detailed information about adjacent nodes, thereby improving encoding efficiency.

For example, as shown in Figure 53, in the above encoding, the three-dimensional data encoding device switches the adjacent node to be referenced from among multiple adjacent nodes depending on the spatial position of the target node within the parent node.

This allows the three-dimensional data encoding device to reference the appropriate adjacent node depending on the spatial position of the target node within its parent node.

For example, a three-dimensional data encoding device includes a processor and memory, and the processor uses the memory to perform the above processing.

The three-dimensional data decoding device according to this embodiment also decodes information (e.g., occupancy code) of a target node included in an N-ary tree structure (N is an integer equal to or greater than 2) of multiple three-dimensional points included in the three-dimensional data. As shown in Figures 51 and 52, during the decoding process, the three-dimensional data decoding device allows reference to information (e.g., occupancy information) of a first node, of multiple adjacent nodes spatially adjacent to the target node, whose parent node is the same as the target node, and prohibits reference to information (e.g., occupancy information) of a second node, whose parent node is different from the target node. In other words, during the decoding process, the three-dimensional data decoding device allows reference to information (e.g., occupancy code) of the parent node, and prohibits reference to information (e.g., occupancy code) of other nodes (parent adjacent nodes) on the same layer as the parent node.

As a result, the three-dimensional data decoding device can improve encoding efficiency by referencing information about a first node, of multiple adjacent nodes spatially adjacent to the target node, whose parent node is the same as the target node. Furthermore, the three-dimensional data decoding device can reduce the amount of processing by not referencing information about a second node, of multiple adjacent nodes, whose parent node is different from the target node. In this way, the three-dimensional data decoding device can improve encoding efficiency and reduce the amount of processing.

For example, the three-dimensional data decoding device further acquires prohibition switching information (e.g., limit_refer_flag shown in FIG. 63) from the bitstream that indicates whether or not reference to information from the second node is prohibited, and in the decoding, switches between prohibiting and allowing reference to information from the second node based on the prohibition switching information.

This allows the 3D data decoding device to perform decoding processing appropriately using the prohibition switching information.

For example, the information on the target node is information (e.g., an occupancy code) indicating whether or not a three-dimensional point exists in each of the child nodes belonging to the target node, the information on the first node is information indicating whether or not a three-dimensional point exists in the first node (occupancy information of the first node), and the information on the second node is information indicating whether or not a three-dimensional point exists in the second node (occupancy information of the second node).

For example, in the above decoding, the three-dimensional data decoding device selects an encoding table based on whether or not a three-dimensional point exists at the first node, and uses the selected encoding table to entropy decode the information of the target node (e.g., the occupancy code).

For example, in the above decoding, the three-dimensional data decoding device allows reference to information (e.g., occupancy information) of the child node of the first node among multiple adjacent nodes, as shown in Figures 66 and 67.

This allows the three-dimensional data decoding device to refer to more detailed information about adjacent nodes, thereby improving coding efficiency.

For example, as shown in Figure 53, in the above decoding, the three-dimensional data decoding device switches the adjacent node to be referenced from among multiple adjacent nodes depending on the spatial position of the target node within its parent node.

This allows the three-dimensional data decoding device to refer to the appropriate adjacent node depending on the spatial position of the target node within its parent node.

For example, a three-dimensional data decoding device includes a processor and memory, and the processor uses the memory to perform the above processing.

Ninth Embodiment
A three-dimensional data encoding device can improve encoding efficiency by using adjacent node information of a node to be encoded (hereinafter referred to as a target node) when encoding the encoding information of the target node. For example, the three-dimensional data encoding device switches encoding tables (probability tables, etc.) for entropy encoding the occupancy code of the target node using adjacent node information. Here, the adjacent node information is, for example, information indicating whether multiple nodes (adjacent nodes) spatially adjacent to the target node are occupied nodes (occupied nodes) (whether the adjacent nodes include a point cloud), etc.

For example, the three-dimensional data encoding device may switch encoding tables using information indicating the number of occupied nodes (adjacent occupied nodes) among multiple adjacent nodes. For example, the device may calculate the number of occupied nodes among the six adjacent nodes (left, right, top, bottom, front, back) adjacent to the target node, and switch encoding tables for entropy encoding the occupancy code of the target node according to that number.

The three-dimensional data encoding device may use the pattern of neighboring occupied nodes (hereinafter referred to as the Neighbor Pattern) instead of the number of neighboring occupied nodes. Figure 68 is a diagram showing an example of neighboring nodes and the processing related to this embodiment. For example, in the example shown in Figure 68, neighboring nodes X0, Y0, and Z0 are occupied nodes, and neighboring nodes X1, Y1, and Z1 are unoccupied nodes that are not occupied nodes. In this case, the three-dimensional data encoding device calculates the neighboring occupied pattern value 21 by converting the bit string (Z1 Z0 Y1 Y0 X1 X0) = (010101) to a decimal number, and encodes the occupancy code of the target node using the 21st encoding table. The three-dimensional data encoding device may also use another value calculated using the value 21 as the value of the encoding table.

Here, the neighboring node information of the target node is used to calculate the neighboring occupancy pattern, and a flag called NeighborPatternCodingFlag is provided to switch the coding table depending on the value and determine whether or not to arithmetically code the occupancy code of the target node. The three-dimensional data encoding device adds this NeighborPatternCodingFlag to the header of the bitstream, etc.

When NeighborPatternCodingFlag = 1, the three-dimensional data encoding device calculates the neighboring occupancy pattern using the neighboring node information of the target node, switches the encoding table according to that value, and arithmetically encodes the occupancy code of the target node. When NeighborPatternCodingFlag = 0, the three-dimensional data encoding device arithmetically encodes the occupancy code of the target node without using the neighboring node information of the target node.

For example, when NeighborPatternCodingFlag = 1, the three-dimensional data encoding device calculates the adjacent occupancy pattern using six nodes adjacent to the target node, as shown in Figure 68. In this case, the value of the adjacent occupancy pattern can range from 0 to 63. Therefore, the three-dimensional data encoding device switches between a total of 64 encoding tables to arithmetically encode the occupancy code of the target node.

For example, in the example shown in Figure 68, the value of the adjacent occupancy pattern is 21, and the three-dimensional data encoding device entropy encodes the occupancy code of the target node using the 21st encoding table. Note that the three-dimensional data encoding device may also use the encoding table with the index number calculated from the value 21.

Furthermore, for example, when NeighborPatternCodingFlag = 0, the three-dimensional data encoding device determines the encoding table without using the value of the neighboring node information. For example, the three-dimensional data encoding device sets the value of the neighboring occupancy pattern to 0, determines the encoding table without using the value of the neighboring node information, and arithmetically encodes the occupancy code of the target node. In other words, the three-dimensional data encoding device sets the neighboring occupancy pattern to 0 and uses the 0th encoding table. In other words, the three-dimensional data encoding device uses a predetermined encoding table.

In this way, the three-dimensional data encoding device calculates the neighboring occupation pattern depending on the value of NeighborPatternCodingFlag, and switches the encoding table depending on the calculated neighboring occupation pattern to determine whether or not to perform encoding. This makes it possible to balance encoding efficiency with low processing load.

The modes for encoding the target node may include, for example, a normal node (or normal mode) in which the node is further divided into eight subnodes and encoded using an octree structure, and an early terminated node (or direct coding mode) in which encoding using an octree structure based on division into eight is stopped and the position information of three-dimensional points within the node is directly encoded.

For example, if the number of point clouds in the target node is equal to or less than a certain threshold A, the three-dimensional data encoding device sets the target node as an early terminal node and stops the octree division. Alternatively, if the number of point clouds in a parent node is equal to or less than a certain threshold B, the three-dimensional data encoding device sets the target node as an early terminal node and stops the octree division. Alternatively, if the number of point clouds contained in an adjacent node is equal to or less than a certain threshold C, the three-dimensional data encoding device sets the target node as an early terminal node and stops the octree division.

In this way, the three-dimensional data encoding device may use the number of point clouds contained in the target node, parent node, or adjacent node to determine whether the target node is an early terminal node, and if true, stop the octree division, or if false, continue the octree division and perform encoding. This allows the three-dimensional data encoding device to reduce processing time by stopping the octree division when the number of point clouds contained in the target node, parent node, or adjacent node becomes small. Note that for early terminal nodes, the three-dimensional data encoding device may encode the three-dimensional position information of each point cloud contained in the node using entropy coding, etc.

Figure 69 is a flowchart of the three-dimensional data encoding process according to this embodiment. First, the three-dimensional data encoding device determines whether the target node satisfies condition I for becoming an early terminal node (S4401). In other words, this determination is a determination of whether the target node has the potential to be encoded as an early terminal node, that is, a determination of whether the early terminal node is usable.

If condition I is true (Yes in S4401), the three-dimensional data encoding device then determines whether the target node satisfies determination condition J for determining whether it is an early terminal node (S4402). In other words, this determination is a determination of whether the target node should actually be encoded as an early terminal node, that is, whether an early terminal node should be used.

If condition J is true (Yes in S4402), the three-dimensional data encoding device sets early_terminated_node_flag (early termination node flag) to 1 and encodes the early_terminated_node_flag (S4403). Next, the three-dimensional data encoding device directly encodes the position information of the three-dimensional points contained within the target node (S4404). In other words, the three-dimensional data encoding device applies the early termination node to the target node.

On the other hand, if condition J is false (No in S4402), the three-dimensional data encoding device sets early_terminated_node_flag to 0 and encodes the early_terminated_node_flag (S4405). Next, the three-dimensional data encoding device sets the target node to a normal node and continues encoding using octree partitioning (S4406).

Also, if condition I is false (No in S4401), the three-dimensional data encoding device does not encode early_terminated_node_flag, sets the target node to a normal node, and continues encoding using octree division (S4406).

For example, condition J includes a condition as to whether the number of three-dimensional points in the target node is less than or equal to a threshold value (e.g., value 2). For example, if the number of three-dimensional points in the target node is less than or equal to the threshold value, the three-dimensional data encoding device determines the target node to be an early terminal node; otherwise, it determines the target node to not be an early terminal node.

Condition I also includes, for example, a condition as to whether the hierarchical level to which the target node belongs is equal to or higher than a predetermined hierarchical level in the octree. For example, condition I may include a condition as to whether the target node is at a higher hierarchical level than a node with a leaf (lowest hierarchical level) (e.g., whether it contains a space of a certain size or larger).

Condition I may also include a condition for the occupancy information of nodes (sibling nodes) contained within the parent node of the target node, or of sibling nodes of the parent node. In other words, the three-dimensional data encoding device may determine whether the target node is likely to be an early termination node based on the occupancy information of sibling nodes or sibling nodes of the parent node. For example, the three-dimensional data encoding device counts the number of occupied sibling nodes within the same parent node as the target node. Condition I includes a condition that this counted value is equal to or less than a predetermined value. Alternatively, the three-dimensional data encoding device counts the number of occupied sibling nodes of the parent node of the target node. Condition I includes a condition that this counted value is equal to or less than a predetermined value.

In this way, the three-dimensional data encoding device first determines whether the target node is likely to be an early termination node using the hierarchy in the octree structure of the target node, the occupancy information of the target node's sibling nodes, or the occupancy information of the parent node's sibling nodes. If there is such a possibility, the three-dimensional data encoding device encodes the early_terminated_node_flag; if not, it does not encode the early_terminated_node_flag. This allows the three-dimensional data encoding device to adaptively select and encode early termination nodes while minimizing overhead.

The three-dimensional data encoding device may also provide an EarlyTerminatedCodingFlag, which is a flag indicating whether or not encoding is performed using an early termination node (direct encoding mode), and add this flag to the header, etc.

Condition I may also include a determination of whether EarlyTerminatedCodingFlag = 1 is satisfied. By providing a mechanism for switching whether or not to use an early termination node (direct coding mode) depending on the value of EarlyTerminatedCodingFlag, it is possible to strike a balance between coding efficiency and reduced processing load.

The three-dimensional data encoding device may also calculate the adjacent occupancy pattern of the target node, and condition I may include a condition that the adjacent occupancy pattern = 0 is satisfied. This increases the likelihood that an early terminal node will be selected when the adjacent node is unoccupied, i.e., when three-dimensional points are sparse. Therefore, the three-dimensional data encoding device can improve encoding efficiency by efficiently selecting early terminal nodes.

Figure 70 is a flowchart of three-dimensional data encoding processing (early termination node determination processing) by a three-dimensional data encoding device according to this embodiment. The three-dimensional data encoding device uses NeighborPatternCodingFlag and EarlyTerminatdCodingFlag.

First, the three-dimensional data encoding device determines whether NeighborPatternCodingFlag is 1 (S4411). This NeighborPatternCodingFlag is generated, for example, by the three-dimensional data encoding device. For example, the three-dimensional data encoding device determines the value of NeighborPatternCodingFlag based on an externally specified encoding mode or input three-dimensional points.

If NeighborPatternCodingFlag = 1 (Yes in S4411), the three-dimensional data encoding device calculates the neighboring occupancy pattern of the target node (S4412). For example, the three-dimensional data encoding device uses the calculated neighboring occupancy pattern to select a coding table for arithmetic coding of the occupancy code.

On the other hand, if NeighborPatternCodingFlag = 0 (No in S4411), the three-dimensional data encoding device does not calculate the neighboring occupation pattern and sets the value of the neighboring occupation pattern to 0 (S4413).

Note that the three-dimensional data encoding device may initialize the neighboring occupation pattern to a value of 0, and update the value of the neighboring occupation pattern if NeighborPatternCodingFlag = 1.

Next, the three-dimensional data encoding device determines whether condition I is satisfied (S4414). For example, if EarlyTerminatedCodingFlag = 1, the three-dimensional data encoding device may use the value of the set adjacent occupation pattern to determine whether the target node is likely to become an early termination node. In other words, condition I may include a condition as to whether the set adjacent occupation pattern is 0.

In other words, condition I may include a condition as to whether EarlyTerminatedCodingFlag = 1 is satisfied. Condition I may also include a condition as to whether adjacent occupation pattern = 0 is satisfied. For example, condition I may be true if EarlyTerminatedCodingFlag = 1 and adjacent occupation pattern = 0, and false in other cases.

As a result, when NeighborPatternCodingFlag = 1, the three-dimensional data encoding device can also use the neighboring occupation pattern calculated and set for switching the encoding table when determining whether it is an early terminal node (condition I). This reduces the amount of processing required to recalculate the neighboring occupation pattern. Furthermore, when NeighborPatternCodingFlag = 0, the three-dimensional data encoding device can determine that at least one of the conditions in condition I is satisfied by setting the neighboring occupation pattern = 0. Therefore, the three-dimensional data encoding device does not need to separately calculate the neighboring occupation pattern, thereby reducing the amount of processing.

Condition I may also include, for example, a condition as to whether the hierarchical level to which the target node belongs is equal to or higher than a predetermined hierarchical level in the octree. For example, condition I may include a condition as to whether the target node is at a higher hierarchical level than a node with a leaf (lowest hierarchical level) (e.g., whether it contains a space of a certain size or larger).

Condition I may also include a condition regarding the occupancy information of nodes (sibling nodes) contained within the parent node of the target node, or of sibling nodes of the parent node. In other words, the three-dimensional data encoding device may determine whether the target node is likely to be an early termination node based on the occupancy information of sibling nodes or sibling nodes of the parent node. For example, the three-dimensional data encoding device counts the number of occupied sibling nodes within the same parent node as the target node. Condition I may also include a condition regarding whether this counted value is equal to or less than a predetermined value. Alternatively, the three-dimensional data encoding device counts the number of occupied sibling nodes of the parent node of the target node. Condition I may also include a condition regarding whether this counted value is equal to or less than a predetermined value.

Furthermore, condition I may include any one of the multiple conditions described above, or may include multiple conditions. When condition I includes multiple conditions, for example, if all of the conditions are satisfied, condition I may be determined to be satisfied (true), and in all other cases condition I may be determined to be not satisfied (false). Alternatively, condition I may be determined to be satisfied (true) if at least one of the multiple conditions is satisfied.

Note that the processing in steps S4415 to S4419 is similar to the processing in steps S4402 to S4406 shown in Figure 69, and redundant explanations will be omitted.

Figure 71 is a flowchart of a modified example of the three-dimensional data encoding process (early terminal node determination process) performed by the three-dimensional data encoding device according to this embodiment. The process shown in Figure 71 differs from the process shown in Figure 70 in that step S4411 is changed to step S4411A.

The three-dimensional data encoding device determines whether at least one of NeighborPatternCodingFlag = 1 and EarlyTerminatdCodingFlag = 1 is satisfied (S4411A). This NeighborPatternCodingFlag and EarlyTerminatdCodingFlag are generated, for example, in the three-dimensional data encoding device. For example, the three-dimensional data encoding device determines the values of NeighborPatternCodingFlag and EarlyTerminatdCodingFlag based on an externally specified encoding mode or input three-dimensional points.

If at least one of NeighborPatternCodingFlag = 1 and EarlyTerminatedCodingFlag = 1 is satisfied (Yes in S4411A), the three-dimensional data encoding device calculates the neighboring occupation pattern of the target node and sets the value (S4412). If neither NeighborPatternCodingFlag = 1 nor EarlyTerminatedCodingFlag = 1 is satisfied (No in S4411A), the three-dimensional data encoding device does not calculate the neighboring occupation pattern and sets the value of the neighboring occupation pattern to 0 (S4413).

The three-dimensional data encoding device may initialize the neighboring occupation pattern to a value of 0, and update the value of the neighboring occupation pattern if NeighborPatternCodingFlag = 1 or EarlyTerminatedCodingFlag = 1. Subsequent processing is the same as in Figure 70.

In other words, when EarlyTerminatedCodingFlag = 1, the three-dimensional data encoding device uses the value of the set adjacent occupation pattern to determine whether the target node is likely to become an early termination node. In other words, condition I may include a condition whether the set adjacent occupation pattern is 0.

As a result, when NeighborPatternCodingFlag = 1 or EarlyTerminatedCodingFlag = 1, the three-dimensional data encoding device calculates the neighboring occupation pattern of the target node and uses the value of the calculated neighboring occupation pattern to determine the likelihood that the target node is an early terminal node. Therefore, the three-dimensional data encoding device can appropriately select an early terminal node, thereby improving encoding efficiency.

Next, we will explain the processing performed by the three-dimensional data decoding device according to this embodiment. Figure 72 is a flowchart of the three-dimensional data decoding processing (early terminal node determination processing) performed by the three-dimensional data decoding device according to this embodiment.

First, the three-dimensional data decoding device decodes the NeighborPatternCodingFlag from the bitstream header (S4421). Next, the three-dimensional data decoding device decodes the EarlyTerminatedCodingFlag from the bitstream header (S4422).

Next, the three-dimensional data decoding device determines whether the decoded NeighborPatternCodingFlag is 1 (S4423).

If NeighborPatternCodingFlag is 1 (Yes in S4423), the three-dimensional data decoding device calculates the neighboring occupancy pattern of the target node (S4424). Note that the three-dimensional data decoding device may use the calculated neighboring occupancy pattern to select a coding table for arithmetic decoding of the occupancy code.

If NeighborPatternCodingFlag is 0 (No in S4423), the three-dimensional data decoding device sets the adjacent occupation pattern to 0 (S4425). Note that the three-dimensional data decoding device may initialize the adjacent occupation pattern to a value of 0, and if NeighborPatternCodingFlag = 1, update the value of the adjacent occupation pattern.

Next, the three-dimensional data decoding device determines whether condition I is true (S4426). Note that the details of this process are the same as those of step S4414 in the three-dimensional data encoding device.

If condition I is true (Yes in S4426), the three-dimensional data decoding device decodes early_terminated_node_flag from the bitstream (S4427). Next, the three-dimensional data decoding device determines whether early_terminated_node_flag is 1 (S4428).

If early_terminated_node_flag is 1 (Yes in S4428), the three-dimensional data decoding device decodes the position information of the three-dimensional point within the target node (S4429). In other words, the three-dimensional data decoding device applies the early terminal node to the target node. If early_terminated_node_flag is 0 (No in S4428), the three-dimensional data decoding device sets the target node to a normal node and continues decoding using octree partitioning (S4430).

Also, if condition I is false (No in S4426), the three-dimensional data decoding device does not decode early_terminated_node_flag from the bitstream, sets the target node to a normal node, and continues decoding using octree partitioning (S4430).

Figure 73 is a flowchart of a modified example of the three-dimensional data decoding process (early terminal node determination process) performed by the three-dimensional data decoding device according to this embodiment. The process shown in Figure 73 differs from the process shown in Figure 72 in that step S4423 is changed to step S4423A.

In step S4423A, the three-dimensional data decoding device determines whether at least one of NeighborPatternCodingFlag = 1 and EarlyTerminatedCodingFlag = 1 is satisfied (S4423A).

If at least one of NeighborPatternCodingFlag = 1 and EarlyTerminatedCodingFlag = 1 is satisfied (Yes in S4423A), the three-dimensional data decoding device calculates the neighboring occupation pattern of the target node (S4424). If neither NeighborPatternCodingFlag = 1 nor EarlyTerminatedCodingFlag = 1 is satisfied (No in S4423A), the three-dimensional data decoding device does not calculate the neighboring occupation pattern and sets the value of the neighboring occupation pattern to 0 (S4425).

The three-dimensional data decoding device may initialize the adjacent occupation pattern to a value of 0, and update the value of the adjacent occupation pattern if NeighborPatternCodingFlag = 1 or EarlyTerminatedCodingFlag = 1. Subsequent processing is the same as in Figure 72.

Next, we will explain an example of the syntax of a bitstream generated by a 3D data encoding device according to this embodiment. Figure 74 is a diagram showing an example of the syntax of pc_header included in the bitstream. This pc_header() is, for example, header information for multiple input 3D points. In other words, the information included in pc_header() is used in common for multiple 3D points (nodes).

pc_header includes NeighborPatternCodingFlag (neighbor pattern coding flag) and EarlyTerminatedCodingFlag (early termination coding flag).

NeighborPatternCodingFlag is information that indicates whether the coding table for arithmetic coding of occupancy codes is switched using adjacent node information (adjacent occupancy patterns). For example, NeighborPatternCodingFlag = 1 indicates that the coding table is switched using adjacent node information, and NeighborPatternCodingFlag = 0 indicates that the coding table is not switched using adjacent node information.

EarlyTerminatdCodingFlag is information indicating whether or not an early termination node (direct coding mode) is used (whether or not it is available). For example, EarlyTerminatdCodingFlag = 1 indicates that an early termination node is used, and EarlyTerminatdCodingFlag = 0 indicates that an early termination node is not used.

Figure 75 shows an example of the syntax for node information (node (depth, index)). This node information is information about one node included in the octree and is provided for each node. The node information includes occupancy_code (occupancy code), early_terminated_node_flag (early terminated node flag), and coordinate_of_3Dpoint (three-dimensional coordinates).

Occupancy_code is information indicating whether the child node of a node is occupied. The three-dimensional data encoding device may arithmetically encode occupancy_code by switching encoding tables depending on the value of NeighborPatternCodingFlag.

The early_terminated_node_flag is information indicating whether the node is an early-terminated node. For example, early_terminated_node_flag = 1 indicates that the node is an early-terminated node, and early_terminated_node_flag = 0 indicates that the node is not an early-terminated node. Note that if the early_terminated_node_flag of the target node is not coded in the bitstream, the three-dimensional data decoding device may estimate the value of the early_terminated_node_flag of the target node to be 0.

coordinate_of_3Dpoint is the position information of the point cloud included in the node when the node is an early terminal node. Note that if the node includes multiple point clouds, coordinate_of_3Dpoint may include the position information of each point cloud.

In addition, the three-dimensional data encoding device may specify the value of the NeighborPatternCodingFlag or EarlyTerminatCodingFlag based on the standard, or the profile or level of the standard, without adding the NeighborPatternCodingFlag or EarlyTerminatCodingFlag to the header. This allows the three-dimensional data decoding device to correctly decode the bitstream by determining the value of the NeighborPatternCodingFlag or EarlyTerminatCodingFlag by referencing the standard information included in the bitstream.

The three-dimensional data encoding device may also entropy encode at least one of the above NeighborPatternCodingFlag, EarlyTerminatedCodingFlag, early_terminated_node_flag, and coordinate_of_3Dpoint. For example, the three-dimensional data encoding device may binarize each value and then perform arithmetic encoding.

Furthermore, in this embodiment, an octal tree structure is used as an example, but this is not necessarily limited to this, and the above method may also be applied to N-ary tree structures (N is an integer greater than or equal to 2) such as quad trees or hexadecimal trees, or other tree structures.

Next, an example configuration of a three-dimensional data encoding device according to this embodiment will be described. Figure 76 is a block diagram of a three-dimensional data encoding device 4400 according to this embodiment. The three-dimensional data encoding device 4400 includes an octree generation unit 4401, a geometric information calculation unit 4402, a coding table selection unit 4403, and an entropy encoding unit 4404.

The octree generation unit 4401 generates, for example, an octree from the input three-dimensional points (point cloud) and generates occupancy codes for each node in the octree. When EarlyTerminatedCodingFlag = 1, the octree generation unit 4401 may determine whether the target node is an early terminal node using the judgment of condition I and condition J. If true, the octree division may be stopped, and if false, the octree division may be continued and encoding may be performed. The octree generation unit 4401 may also add a flag (early_terminated_node_flag) indicating whether each node is an early terminal node to the bitstream. This allows the three-dimensional data decoding device to correctly determine whether a node is an early terminal node.

The geometric information calculation unit 4402 acquires information indicating whether adjacent nodes of the target node are occupied, and calculates an adjacent occupancy pattern based on the acquired information. For example, the geometric information calculation unit 4402 calculates the adjacent occupancy pattern using the method described using Figure 68, etc. The geometric information calculation unit 4402 may also calculate the adjacent occupancy pattern from the occupancy code of the parent node to which the target node belongs. The geometric information calculation unit 4402 may also store encoded nodes in a list and search for adjacent nodes from that list. The geometric information calculation unit 4402 may also switch adjacent nodes depending on the position of the target node within the parent node. The geometric information calculation unit 4402 may also switch whether to calculate an adjacent occupancy pattern depending on the values of NeighborPatternCodingFlag and EarlyTerminatedCodingFlag.

The coding table selection unit 4403 selects the coding table to be used for entropy coding of the target node using the occupancy information (adjacent occupancy pattern) of adjacent nodes calculated by the geometric information calculation unit 4402. For example, the coding table selection unit 4403 selects the coding table with the index calculated from the value of the adjacent occupancy pattern.

The entropy coding unit 4404 generates a bitstream by entropy coding the occupancy code of the target node using the coding table with the selected index. The entropy coding unit 4404 may add information about the selected coding table to the bitstream.

Next, an example configuration of a three-dimensional data decoding device according to this embodiment will be described. Figure 77 is a block diagram of a three-dimensional data decoding device 4410 according to this embodiment. The three-dimensional data decoding device 4410 includes an octree generation unit 4411, a geometric information calculation unit 4412, a coding table selection unit 4413, and an entropy decoding unit 4414.

The octree generator 4411 generates an octree for a certain space (node) using header information from the bitstream, etc. For example, the octree generator 4411 generates a large space (root node) using the dimensions of the x-axis, y-axis, and z-axis of a certain space added to the header information, and then divides this space in half along the x-axis, y-axis, and z-axis to generate eight small spaces A (nodes A0 to A7), thereby generating an octree. Nodes A0 to A7 are set in order as target nodes.

In addition, when the value of EarlyTerminatedCodingFlag obtained by decoding the header is 1, the octree generation unit 4411 may determine whether the target node is an early termination node using the judgment of condition I and condition J, and if true, stop the octree division, and if false, continue decoding the octree division. In addition, the octree generation unit 4411 may decode a flag indicating whether each node is an early termination node.

The geometric information calculation unit 4412 acquires information indicating whether the neighboring nodes of the target node are occupied, and calculates the neighboring occupancy pattern based on the acquired information. For example, the geometric information calculation unit 4412 may calculate the neighboring occupancy pattern using the method described using Figure 68, etc. The geometric information calculation unit 4412 may also calculate the occupancy information of the neighboring nodes from the occupancy code of the parent node to which the target node belongs. The geometric information calculation unit 4412 may also store decoded nodes in a list and search for neighboring nodes from that list. The geometric information calculation unit 4412 may switch neighboring nodes depending on the position of the target node within the parent node. The geometric information calculation unit 4412 may also switch whether to calculate the neighboring occupancy pattern depending on the values of NeighborPatternCodingFlag and EarlyTerminatedCodingFlag obtained by decoding the header.

The coding table selection unit 4413 selects the coding table to be used for target node entropy decoding using the occupancy information (adjacent occupancy pattern) of adjacent nodes calculated by the geometric information calculation unit 4412. For example, the three-dimensional data decoding device selects the coding table with the index calculated from the value of the adjacent occupancy pattern.

The entropy decoding unit 4414 generates three-dimensional points (point cloud) by entropy decoding the occupancy code of the target node using the selected encoding table. The entropy decoding unit 4414 may obtain information indicating the selected encoding table by decoding from the bitstream, and entropy decode the occupancy code of the target node using the encoding table indicated by the information.

Furthermore, each bit of the occupancy code (8 bits) included in the bitstream indicates whether or not a point group is included in each of the eight small spaces A (nodes A0 to A7). Furthermore, the three-dimensional data decoding device divides small space node A0 into eight small spaces B (nodes B0 to B7) to generate an occupancy tree, and decodes the occupancy code to calculate information indicating whether or not a point group is included in each node of small space B. In this way, the three-dimensional data decoding device decodes the occupancy code of each node while generating an occupancy tree from the large space to the small spaces. Note that if the target node is an early terminal node, the three-dimensional data decoding device may directly decode the three-dimensional information encoded in the bitstream and stop the occupancy tree division at that node.

Below, we will explain modified examples of the three-dimensional data encoding process and the three-dimensional data decoding process (early terminal node determination process).

The method for calculating the adjacent occupancy pattern of a target node is not limited to the method using occupancy information for six adjacent nodes as shown in Figure 68, etc., and other methods may be used. For example, the three-dimensional data encoding device may calculate the adjacent occupancy pattern by referring to adjacent nodes (sibling nodes of the target node) that exist within the parent node of the target node. For example, the three-dimensional data encoding device may calculate an adjacent occupancy pattern consisting of the target node and its position within the parent node and the occupancy information for three adjacent nodes of the parent node. When six adjacent nodes are used, information for adjacent nodes whose parent nodes are different from the target node is used. When three adjacent nodes are used, information for adjacent nodes whose parent nodes are different from the target node is not used. This allows the three-dimensional data encoding device to calculate the adjacent occupancy pattern by referring to the occupancy code of the parent node, thereby reducing the amount of processing.

The three-dimensional data encoding device may also adaptively switch between the method using six adjacent nodes (a method in which the target node and parent node refer to different adjacent nodes) and the method using three adjacent nodes (a method in which the target node and parent node do not refer to different adjacent nodes). For example, the three-dimensional data encoding device calculates adjacent occupancy pattern A using a method using six adjacent nodes to determine whether to switch coding tables for arithmetic coding of occupancy codes. The three-dimensional data encoding device also calculates adjacent occupancy pattern B using a method using three adjacent nodes to determine the possibility of an early terminal node (condition I). The three-dimensional data encoding device may also use the method using three adjacent nodes to determine whether to switch coding tables, and the method using six adjacent nodes to determine the possibility of an early terminal node (condition I). In this way, the three-dimensional data encoding device can control the balance between encoding efficiency and processing volume by adaptively switching the method for calculating the adjacent occupancy pattern.

Figure 78 is a flowchart of the three-dimensional data encoding process. First, the three-dimensional data encoding device determines whether NeighborPatternCodingFlag is 1 (S4441).

If NeighborPatternCodingFlag = 1 (Yes in S4441), the three-dimensional data encoding device calculates the neighboring occupation pattern A of the target node (S4442). The three-dimensional data encoding device may use the calculated neighboring occupation pattern A to select a coding table for arithmetic coding of the occupancy code.

On the other hand, if NeighborPatternCodingFlag = 0 (No in S4441), the three-dimensional data encoding device does not calculate neighboring occupation pattern A and sets the value of neighboring occupation pattern A to 0 (S4443).

Next, the three-dimensional data encoding device determines whether EarlyTerminatedCodingFlag is 1 (S4444).

If EarlyTerminatedCodingFlag = 1 (Yes in S4444), the three-dimensional data encoding device calculates adjacent occupation pattern B of the target node (S4445). This adjacent occupation pattern B is used, for example, to determine condition I.

On the other hand, if EarlyTerminatedCodingFlag = 0 (No in S4444), the three-dimensional data encoding device does not calculate adjacent occupation pattern B and sets the value of adjacent occupation pattern B to 0 (S4446).

For example, a three-dimensional data encoding device may use different methods for calculating adjacent occupation pattern A and adjacent occupation pattern B. For example, a three-dimensional data encoding device may calculate adjacent occupation pattern A using a method that uses six adjacent nodes, and calculate adjacent occupation pattern B using a method that uses three adjacent nodes. Similarly, a three-dimensional data decoding device may also use different calculation methods for adjacent occupation pattern A and adjacent occupation pattern B.

The three-dimensional data encoding device may initialize adjacent occupation pattern A to a value of 0, and if NeighborPatternCodingFlag = 1, update the value of adjacent occupation pattern A. The three-dimensional data encoding device may also initialize adjacent occupation pattern B to a value of 0, and if EarlyTerminatedCodingFlag = 1, update the value of adjacent occupation pattern B.

Next, the three-dimensional data encoding device determines whether condition I is satisfied (S4447). The details of this process are similar to, for example, S4414 shown in FIG. 70. However, the difference is that adjacent occupation pattern B is used as the adjacent occupation pattern in step S4414. In other words, condition I may include a condition of whether EarlyTerminatedCodingFlag = 1 is satisfied. Condition I may also include a condition of whether adjacent occupation pattern B = 0 is satisfied. For example, condition I may be true if EarlyTerminatedCodingFlag = 1 and adjacent occupation pattern B = 0, and false in other cases.

Note that the processing in steps S4448 to S4452 is similar to the processing in steps S4415 to S4419 shown in Figure 70, and redundant explanations will be omitted.

Figure 79 is a flowchart of a modified example of the three-dimensional data encoding process (early terminal node determination process) performed by the three-dimensional data encoding device according to this embodiment. The process shown in Figure 79 differs from the process shown in Figure 78 in that steps S4453 and S4454 have been added.

If EarlyTerminatedCodingFlag = 1 (Yes in S4444), the three-dimensional data encoding device then determines whether NeighborPatternCodingFlag is 1 (S4453).

If NeighborPatternCodingFlag = 1 (Yes in S4453), the three-dimensional data encoding device sets the value of neighboring occupation pattern B to the value of neighboring occupation pattern A (S4454).

If NeighborPatternCodingFlag = 0 (No in S4453), the three-dimensional data encoding device calculates neighboring occupation pattern B (S4445).

In this way, when the three-dimensional data encoding device calculates adjacent occupation pattern A, it uses adjacent occupation pattern A as adjacent occupation pattern B. In other words, adjacent occupation pattern A is used to determine condition I. As a result, when the three-dimensional data encoding device calculates adjacent occupation pattern A, it does not calculate adjacent occupation pattern B, thereby reducing the amount of processing.

Figure 80 is a flowchart of a modified example of the three-dimensional data decoding process (early terminal node determination process) performed by the three-dimensional data decoding device according to this embodiment.

First, the three-dimensional data decoding device decodes the NeighborPatternCodingFlag from the bitstream header (S4461). Next, the three-dimensional data decoding device decodes the EarlyTerminatedCodingFlag from the bitstream header (S4462).

Next, the three-dimensional data decoding device determines whether the decoded NeighborPatternCodingFlag is 1 (S4463).

If NeighborPatternCodingFlag is 1 (Yes in S4463), the three-dimensional data decoding device calculates the neighboring occupation pattern A of the target node (S4464). Note that the three-dimensional data decoding device may use the calculated neighboring occupation pattern to select a coding table for arithmetic decoding of the occupancy code.

If NeighborPatternCodingFlag is 0 (No in S4463), the three-dimensional data decoding device sets neighboring occupation pattern A to 0 (S4465).

Next, the three-dimensional data decoding device determines whether EarlyTerminatedCodingFlag is 1 (S4466).

If EarlyTerminatedCodingFlag = 1 (Yes in S4466), the three-dimensional data decoding device calculates adjacent occupation pattern B of the target node (S4467). This adjacent occupation pattern B is used, for example, to determine condition I.

On the other hand, if EarlyTerminatedCodingFlag = 0 (No in S4466), the three-dimensional data decoding device does not calculate adjacent occupation pattern B and sets the value of adjacent occupation pattern B to 0 (S4468).

For example, the three-dimensional data decoding device uses different methods to calculate adjacent occupation pattern A and adjacent occupation pattern B. For example, the three-dimensional data decoding device calculates adjacent occupation pattern A using a method that uses six adjacent nodes, and calculates adjacent occupation pattern B using a method that uses three adjacent nodes.

The three-dimensional data decoding device may initialize adjacent occupation pattern A to a value of 0, and if NeighborPatternCodingFlag = 1, update the value of adjacent occupation pattern A. The three-dimensional data decoding device may also initialize adjacent occupation pattern B to a value of 0, and if EarlyTerminatedCodingFlag = 1, update the value of adjacent occupation pattern B.

Next, the three-dimensional data encoding device determines whether condition I is satisfied (S4469). The details of this process are similar to, for example, S4426 shown in FIG. 72. However, the difference is that adjacent occupation pattern B is used as the adjacent occupation pattern in step S4426. In other words, condition I may include a condition of whether EarlyTerminatedCodingFlag = 1 is satisfied. Condition I may also include a condition of whether adjacent occupation pattern B = 0 is satisfied. For example, condition I may be true if EarlyTerminatedCodingFlag = 1 and adjacent occupation pattern B = 0, and false in other cases.

Note that the processing of steps S4470 to S4473 is similar to the processing of steps S4427 to S4430 shown in Figure 72, and redundant explanations will be omitted.

Figure 81 is a flowchart of a modified example of the three-dimensional data decoding process (early terminal node determination process) performed by the three-dimensional data decoding device according to this embodiment. The process shown in Figure 81 differs from the process shown in Figure 80 in that steps S4474 and S4475 are added.

If EarlyTerminatedCodingFlag = 1 (Yes in S4466), the three-dimensional data decoding device then determines whether NeighborPatternCodingFlag is 1 (S4474).

If NeighborPatternCodingFlag = 1 (Yes in S4474), the three-dimensional data decoding device sets the value of neighboring occupation pattern B to the value of neighboring occupation pattern A (S4475).

If NeighborPatternCodingFlag = 0 (No in S4474), the three-dimensional data encoding device calculates neighboring occupation pattern B (S4467).

In this way, when the three-dimensional data decoding device calculates adjacent occupation pattern A, it uses adjacent occupation pattern A as adjacent occupation pattern B. In other words, adjacent occupation pattern A is used to determine condition I. As a result, when the three-dimensional data decoding device calculates adjacent occupation pattern A, it does not calculate adjacent occupation pattern B, thereby reducing the amount of processing.

Note that the correspondence between the various flag values (0 or 1) and their meanings described above is an example, and the correspondence between the various flag values and their meanings may be reversed.

As described above, the three-dimensional data encoding device according to this embodiment performs the processing shown in Figure 82.

The three-dimensional data encoding device determines whether a first flag (e.g., NeighborPatternCodingFlag) indicates a first value (e.g., 1) (S4481). If the first flag indicates the first value (Yes in S4481), the three-dimensional data encoding device generates a first occupancy pattern (e.g., adjacent occupancy pattern A) indicating the occupancy state of multiple second adjacent nodes, including a first adjacent node whose parent node is different from the target node, included in the N-ary tree structure of multiple three-dimensional points included in the three-dimensional data (N is an integer greater than or equal to 2) (S4482) (e.g., S4442 and S4454 in Figure 79).

Next, based on the first occupancy pattern, the three-dimensional data encoding device determines whether it is possible to use a first encoding method (e.g., an early terminal node) that encodes multiple pieces of three-dimensional position information contained in the target node without dividing the target node into multiple child nodes (S4483) (e.g., S4447 in Figure 79).

If the first flag indicates a second value (e.g., 0) different from the first value (No in S4481), the three-dimensional data encoding device generates a second occupancy pattern (e.g., adjacent occupancy pattern B) indicating the occupancy status of multiple third adjacent nodes that do not include a first adjacent node whose parent node is different from the target node (S4484) (e.g., S4445 in FIG. 79). Next, the three-dimensional data encoding device determines whether the first encoding can be used based on the second occupancy pattern (S4485) (e.g., S4447 in FIG. 79).

The three-dimensional data encoding device also generates a bitstream including the first flag (S4486).

This allows the three-dimensional data encoding device to switch the adjacent node occupation pattern used to determine whether the first encoding can be used, depending on the first flag. This allows for appropriate determination of whether the first encoding can be used, thereby improving encoding efficiency.

For example, if the three-dimensional data encoding device determines that the first encoding can be used, it determines whether to use the first encoding based on a predetermined condition (e.g., condition J) (e.g., S4448 in FIG. 79), and if it determines to use the first encoding, it encodes the target node using the first encoding (e.g., S4450 in FIG. 79), and if it determines not to use the first encoding, it encodes the target node using a second encoding that splits the target node into multiple child nodes (e.g., S4452 in FIG. 79). The bitstream further includes a second flag (e.g., early_terminated_node_flag) indicating whether to use the first encoding.

For example, when determining whether the first encoding can be used based on the first or second occupation pattern, the three-dimensional data encoding device determines whether the first encoding can be used based on the first or second occupation pattern and the number of occupied nodes included in the parent node. For example, the three-dimensional data encoding device determines that the first encoding can be used if the number of occupied nodes included in the parent node is less than a predetermined number, and determines that the first encoding cannot be used if the number of occupied nodes included in the parent node is more than the predetermined number.

For example, when determining whether the first encoding can be used based on the first or second occupation pattern, the three-dimensional data encoding device determines whether the first encoding can be used based on the first or second occupation pattern and the number of occupied nodes included in the grandparent node of the target node. For example, the three-dimensional data encoding device determines that the first encoding can be used if the number of occupied nodes included in the grandparent node is less than a predetermined number, and determines that the first encoding cannot be used if the number of occupied nodes included in the grandparent node is more than the predetermined number.

For example, when determining whether the first encoding can be used based on the first or second occupation pattern, the three-dimensional data encoding device determines whether the first encoding can be used based on the first or second occupation pattern and the hierarchical level to which the target node belongs. For example, the three-dimensional data encoding device determines that the first encoding can be used if the hierarchical level to which the target node belongs is lower than a predetermined hierarchical level, and determines that the first encoding cannot be used if the hierarchical level to which the target node belongs is higher than the predetermined hierarchical level.

For example, a three-dimensional data encoding device includes a processor and memory, and the processor uses the memory to perform the above processing.

The three-dimensional data decoding device according to this embodiment also performs the processing shown in FIG. 83. First, the three-dimensional data decoding device acquires a first flag (e.g., NeighborPatternCodingFlag) from the bitstream (S4491). The three-dimensional data decoding device determines whether the first flag indicates a first value (e.g., 1) (S4492).

If the first flag indicates a first value (No in S4492), the three-dimensional data decoding device generates a first occupancy pattern (e.g., adjacent occupancy pattern A) indicating the occupancy state of multiple second adjacent nodes, including a first adjacent node whose parent node is different from the target node, included in the N-ary tree structure of multiple three-dimensional points included in the three-dimensional data (N is an integer greater than or equal to 2) (S4493) (e.g., S4464 and S4475 in FIG. 81). Next, based on the first occupancy pattern, the three-dimensional data decoding device determines whether or not a first decoding method (e.g., an early terminal node) can be used to decode multiple three-dimensional position information items included in the target node without dividing the target node into multiple child nodes (S4494) (e.g., S4469 in FIG. 81).

If the first flag indicates a second value (e.g., 0) different from the first value (No in S4492), the three-dimensional data decoding device generates a second occupancy pattern (e.g., adjacent occupancy pattern B) indicating the occupancy status of multiple third adjacent nodes that do not include a first adjacent node whose parent node is different from the target node (S4495) (e.g., S4467 in FIG. 81). Next, the three-dimensional data decoding device determines whether the first decoding is usable based on the second occupancy pattern (S4496) (e.g., S4469 in FIG. 81).

This allows the three-dimensional data decoding device to switch the adjacent node occupation pattern used to determine whether the first encoding can be used, depending on the first flag. This allows for appropriate determination of whether the first encoding can be used, thereby improving encoding efficiency.

For example, when the three-dimensional data decoding device determines that the first decoding is usable, it obtains a second flag indicating whether or not to use the first decoding from the bitstream (e.g., S4470 in FIG. 81), and when the second flag indicates that the first decoding is to be used, it decodes the target node using the first decoding (e.g., S4472 in FIG. 81), and when the second flag indicates that the first decoding is not to be used, it decodes the target node using the second decoding that splits the target node into multiple child nodes (e.g., S4473 in FIG. 81).

For example, when determining whether the first decoding is usable based on the first or second occupation pattern, the three-dimensional data decoding device determines whether the first decoding is usable based on the first or second occupation pattern and the number of occupied nodes included in the parent node. For example, the three-dimensional data decoding device determines that the first encoding is usable if the number of occupied nodes included in the parent node is less than a predetermined number, and determines that the first encoding is not usable if the number of occupied nodes included in the parent node is more than the predetermined number.

For example, when determining whether the first decoding is usable based on the first or second occupation pattern, the three-dimensional data decoding device determines whether the first decoding is usable based on the first or second occupation pattern and the number of occupied nodes included in the grandparent node of the target node. For example, the three-dimensional data decoding device determines that the first encoding is usable if the number of occupied nodes included in the grandparent node is less than a predetermined number, and determines that the first encoding is not usable if the number of occupied nodes included in the grandparent node is more than the predetermined number.

For example, when determining whether the first decoding is usable based on the first or second occupation pattern, the three-dimensional data decoding device determines whether the first decoding is usable based on the first or second occupation pattern and the hierarchical level to which the target node belongs. For example, the three-dimensional data decoding device determines that the first encoding is usable if the hierarchical level to which the target node belongs is lower than a predetermined hierarchical level, and determines that the first encoding is not usable if the hierarchical level to which the target node belongs is higher than the predetermined hierarchical level.

For example, a three-dimensional data decoding device includes a processor and memory, and the processor uses the memory to perform the above processing.

The above describes a three-dimensional data encoding device and a three-dimensional data decoding device according to an embodiment of the present disclosure, but the present disclosure is not limited to this embodiment.

Furthermore, each processing unit included in the three-dimensional data encoding device and three-dimensional data decoding device according to the above embodiments is typically realized as an LSI, which is an integrated circuit. These may be individually implemented on a single chip, or some or all of them may be included on a single chip.

In addition, integrated circuits are not limited to LSIs, but may be realized using dedicated circuits or general-purpose processors. FPGAs (Field Programmable Gate Arrays), which can be programmed after LSI manufacturing, or reconfigurable processors, which allow the connections and settings of circuit cells within the LSI to be reconfigured, may also be used.

Furthermore, in each of the above embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program appropriate for that component. Each component may also be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

The present disclosure may also be realized as a three-dimensional data encoding method or a three-dimensional data decoding method executed by a three-dimensional data encoding device, a three-dimensional data decoding device, or the like.

Furthermore, the division of functional blocks in the block diagram is one example; multiple functional blocks may be realized as a single functional block, one functional block may be divided into multiple blocks, or some functions may be moved to other functional blocks. Furthermore, the functions of multiple functional blocks with similar functions may be processed in parallel or time-shared by a single piece of hardware or software.

Furthermore, the order in which each step in the flowchart is executed is merely an example to specifically explain the present disclosure, and orders other than those described above may also be used. Furthermore, some of the steps may be executed simultaneously (in parallel) with other steps.

The above describes three-dimensional data encoding devices and three-dimensional data decoding devices according to one or more aspects based on embodiments, but the present disclosure is not limited to these embodiments. Various modifications conceivable by those skilled in the art to these embodiments, as well as configurations constructed by combining components from different embodiments, may also be included within the scope of one or more aspects, provided they do not deviate from the spirit of the present disclosure.

This disclosure can be applied to three-dimensional data encoding devices and three-dimensional data decoding devices.

100, 400 Three-dimensional data encoding device 101, 201, 401, 501 Acquisition unit 102, 402 Encoding area determination unit 103 Division unit 104, 644 Encoding unit 111 Three-dimensional data 112, 211, 413, 414, 511, 634 Encoded three-dimensional data 200, 500 Three-dimensional data decoding device 202 Decoding start GOS determination unit 203 Decoding SPC determination unit 204, 625 Decoding unit 212, 512, 513 Decoded three-dimensional data 403 SWLD extraction unit 404 WLD encoding unit 405 SWLD encoding unit 411 Input three-dimensional data 412 Extracted three-dimensional data 502 Header analysis unit 503 WLD decoding unit 504 SWLD decoding unit 620, 620A Three-dimensional data creation device 621, 641 Three-dimensional data creation unit 622 Requested range determination unit 623 Search unit 624, 642 Receiving unit 626 Synthesis unit 631, 651 Sensor information 632 First three-dimensional data 633 Requested range information 635 Second three-dimensional data 636 Third three-dimensional data 640 Three-dimensional data transmission device 643 Extraction unit 645 Transmission unit 652 Fifth three-dimensional data 654 Sixth three-dimensional data 700 Three-dimensional information processing device 701 Three-dimensional map acquisition unit 702 Vehicle detection data acquisition unit 703 Abnormal case determination unit 704 Countermeasure operation determination unit 705 Operation control unit 711 Three-dimensional map 712 Vehicle detection three-dimensional data 810 Three-dimensional data creation device 811 Data receiving unit 812, 819 Communication unit 813 Reception control unit 814, 821 Format conversion unit 815 Sensor 816 Three-dimensional data creation unit 817 Three-dimensional data synthesis unit 818 Three-dimensional data storage unit 820 Transmission control unit 822 Data transmission unit 831, 832, 834, 835, 836, 837 Three-dimensional data 833 Sensor information 901 Server 902, 902A, 902B, 902C Client device 1011, 1111 Data reception unit 1012, 1020, 1112, 1120 Communication unit 1013, 1113 Reception control unit 1014, 1019, 1114, 1119 Format conversion unit 1015 Sensor 1016, 1116 Three-dimensional data creation unit 1017 Three-dimensional image processing unit 1018, 1118 Three-dimensional data storage unit 1021, 1121 Transmission control unit 1022, 1122 Data transmission unit 1031, 1032, 1135 Three-dimensional map 1033, 1037, 1132 Sensor information 1034, 1035, 1134 Three-dimensional data 1117 Three-dimensional data synthesis unit 1201 Three-dimensional map compression/decoding processing unit 1202 Sensor information compression/decoding processing unit 1211 Three-dimensional map decoding processing unit 1212 Sensor information compression processing unit 1300 Three-dimensional data encoding device 1301 Division unit 1302 Subtraction unit 1303 Transformation unit 1304 Quantization unit 1305, 1402 Inverse quantization unit 1306, 1403 Inverse transformation unit 1307, 1404 Addition unit 1308, 1405 Reference volume memory 1309, 1406 Intra prediction unit 1310, 1407 Reference space memory 1311, 1408 Inter prediction unit 1312, 1409 Prediction control unit 1313 Entropy coding unit 1400 Three-dimensional data decoding device 1401 Entropy decoding unit 2100 Three-dimensional data encoding device 2101, 2111 Octree generation unit 2102, 2112 Geometric information calculation unit 2103, 2113 Coding table selection unit 2104 Entropy coding unit 2110 Three-dimensional data decoding device 2114 Entropy decoding unit 4400 Three-dimensional data encoding device 4401, 4411 Octree generation unit 4402, 4412 Geometric information calculation unit 4403, 4413 Coding table selection unit 4404 Entropy coding unit 4410 Three-dimensional data decoding device 4414 Entropy decoding unit

Claims (14)

generating an occupation pattern of adjacent nodes adjacent to a node included in an N-ary (N is an integer of 2 or more) tree structure of a plurality of three-dimensional points included in the three-dimensional data;
determining whether to set a candidate node that can use the first encoding based on the occupation pattern;
The candidate node is included in the node,
The first encoding is a direct mode in which position information of a three-dimensional point within a node is directly encoded.
Three-dimensional data encoding method. The three-dimensional data encoding method according to claim 1 , wherein the candidate node is not a root node in the N-ary tree structure. The three-dimensional data encoding method according to claim 1 , wherein the number of points included in the parent node of the candidate node is used to determine whether to set the candidate node. encoding a parameter indicative of neighboring nodes that are subject to said occupancy pattern;
The three-dimensional data encoding method according to claim 1 , further comprising generating a bitstream including the encoded parameters. if it is determined not to set the candidate node, encoding the node using a second encoding that splits the node into a plurality of child nodes;
2. The three-dimensional data encoding method according to claim 1. 2. The three-dimensional data encoding method according to claim 1 , wherein said determining step determines whether or not to continue N-ary tree division based on said occupation pattern . Obtaining an occupation pattern of adjacent nodes adjacent to a node included in an N-ary (N is an integer of 2 or more) tree structure of a plurality of three-dimensional points included in the three-dimensional data;
determining whether to set a candidate node that can use the first decoding based on the occupation pattern;
The candidate node is included in the node,
The first decoding is a direct mode in which the position information of the three-dimensional point in the node is directly decoded.
Three-dimensional data decoding method. The three-dimensional data decoding method according to claim 7 , wherein the candidate node is not a root node in the N-ary tree structure. The three-dimensional data decoding method according to claim 7 , wherein the number of points included in the parent node of the candidate node is used to determine whether to set the candidate node. if it is determined not to set the candidate node, decoding the node using a second decoding method that splits the node into multiple child nodes;
8. The three-dimensional data decoding method according to claim 7. 8. The three-dimensional data decoding method according to claim 7 , wherein said determination determines whether or not to continue N-ary tree division based on said occupation pattern . Get the parameters from the bitstream,
The three-dimensional data decoding method according to claim 7 , wherein the adjacent nodes that are the subject of the occupation pattern change according to the value indicated by the parameter. a processor;
a memory;
The processor uses the memory to:
generating an occupation pattern of adjacent nodes adjacent to a node included in an N-ary (N is an integer of 2 or more) tree structure of a plurality of three-dimensional points included in the three-dimensional data;
determining whether to set a candidate node that can use the first encoding based on the occupation pattern;
The candidate node is included in the node,
The first encoding is a direct mode in which position information of a three-dimensional point within a node is directly encoded.
Three-dimensional data encoding device. a processor;
a memory;
The processor uses the memory to:
Obtaining an occupation pattern of adjacent nodes adjacent to a node included in an N-ary (N is an integer of 2 or more) tree structure of a plurality of three-dimensional points included in the three-dimensional data;
determining whether to set a candidate node that can use the first decoding based on the occupation pattern;
The candidate node is included in the node,
The first decoding is a direct mode in which the position information of the three-dimensional point in the node is directly decoded.
Three-dimensional data decoding device.